// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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#ifndef G2O_EDGE_LINE2D_POINTXY_H
#define G2O_EDGE_LINE2D_POINTXY_H

#include "g2o/config.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o/stuff/misc.h"
#include "g2o/types/slam2d/vertex_point_xy.h"
#include "g2o_types_slam2d_addons_api.h"
#include "vertex_line2d.h"

namespace g2o {

class EdgeLine2DPointXY
    : public BaseBinaryEdge<1, double, VertexLine2D, VertexPointXY> {
 public:
  G2O_TYPES_SLAM2D_ADDONS_API EdgeLine2DPointXY();

  G2O_TYPES_SLAM2D_ADDONS_API void computeError() {
    const VertexLine2D* l = static_cast<const VertexLine2D*>(_vertices[0]);
    const VertexPointXY* p = static_cast<const VertexPointXY*>(_vertices[1]);
    Vector2 n(std::cos(l->theta()), std::sin(l->theta()));
    double prediction = n.dot(p->estimate()) - l->rho();
    _error[0] = prediction - _measurement;
  }

  G2O_TYPES_SLAM2D_ADDONS_API virtual bool setMeasurementData(const double* d) {
    _measurement = *d;
    return true;
  }

  G2O_TYPES_SLAM2D_ADDONS_API virtual bool getMeasurementData(double* d) const {
    *d = _measurement;
    return true;
  }

  G2O_TYPES_SLAM2D_ADDONS_API virtual int measurementDimension() const {
    return 1;
  }

  G2O_TYPES_SLAM2D_ADDONS_API virtual bool setMeasurementFromState() {
    const VertexLine2D* l = static_cast<const VertexLine2D*>(_vertices[0]);
    const VertexPointXY* p = static_cast<const VertexPointXY*>(_vertices[1]);
    Vector2 n(std::cos(l->theta()), std::sin(l->theta()));
    double prediction = n.dot(p->estimate()) - l->rho();
    _measurement = prediction;
    return true;
  }

  G2O_TYPES_SLAM2D_ADDONS_API virtual bool read(std::istream& is);
  G2O_TYPES_SLAM2D_ADDONS_API virtual bool write(std::ostream& os) const;
};

}  // namespace g2o

#endif
