// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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#ifndef G2O_VERTEX_SE2_OFFSET_PARAMETERS_H_
#define G2O_VERTEX_SE2_OFFSET_PARAMETERS_H_

#include "g2o/core/cache.h"
#include "g2o_types_slam2d_api.h"
#include "se2.h"

namespace g2o {

class VertexSE2;

/**
 * \brief offset for an SE2
 */
class G2O_TYPES_SLAM2D_API ParameterSE2Offset : public Parameter {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  ParameterSE2Offset();

  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

  /**
   * update the offset to a new value.
   * re-calculates the different representations, e.g., the rotation matrix
   */
  void setOffset(const SE2& offset_ = SE2());

  const SE2& offset() const { return _offset; }

  //! rotation of the offset as 2x2 rotation matrix
  const Isometry2& offsetMatrix() const { return _offsetMatrix; }

  //! rotation of the inverse offset as 2x2 rotation matrix
  const Isometry2& inverseOffsetMatrix() const { return _inverseOffsetMatrix; }

 protected:
  SE2 _offset;
  Isometry2 _offsetMatrix;
  Isometry2 _inverseOffsetMatrix;
};

/**
 * \brief caching the offset related to a vertex
 */
class G2O_TYPES_SLAM2D_API CacheSE2Offset : public Cache {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  CacheSE2Offset();
  virtual void updateImpl();

  const ParameterSE2Offset* offsetParam() const { return _offsetParam; }
  void setOffsetParam(ParameterSE2Offset* offsetParam);

  const SE2& w2n() const { return _se2_w2n; }
  const SE2& n2w() const { return _se2_n2w; }

  const Isometry2& w2nMatrix() const { return _w2n; }
  const Isometry2& n2wMatrix() const { return _n2w; }
  const Isometry2& w2lMatrix() const { return _w2l; }

  const Matrix2 RpInverseRInverseMatrix() const { return _RpInverse_RInverse; }
  const Matrix2 RpInverseRInversePrimeMatrix() const {
    return _RpInverse_RInversePrime;
  }

 protected:
  ParameterSE2Offset* _offsetParam;  ///< the parameter connected to the cache
  SE2 _se2_w2n;
  SE2 _se2_n2w;

  Isometry2 _w2n;  ///< world to sensor transform
  Isometry2 _w2l;  ///< world to local
  Isometry2 _n2w;  ///< sensor to world
  Matrix2 _RpInverse_RInverse;
  Matrix2 _RpInverse_RInversePrime;

 protected:
  virtual bool resolveDependencies();
};

}  // namespace g2o

#endif
