// 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
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include "edge_pointxyz.h"

namespace g2o {

EdgePointXYZ::EdgePointXYZ()
    : BaseBinaryEdge<3, Vector3, VertexPointXYZ, VertexPointXYZ>() {
  _information.setIdentity();
  _error.setZero();
}

bool EdgePointXYZ::read(std::istream& is) {
  Vector3 p;
  is >> p[0] >> p[1] >> p[2];
  setMeasurement(p);
  for (int i = 0; i < 3; ++i)
    for (int j = i; j < 3; ++j) {
      is >> information()(i, j);
      if (i != j) information()(j, i) = information()(i, j);
    }
  return true;
}

bool EdgePointXYZ::write(std::ostream& os) const {
  Vector3 p = measurement();
  os << p.x() << " " << p.y() << " " << p.z();
  for (int i = 0; i < 3; ++i)
    for (int j = i; j < 3; ++j) os << " " << information()(i, j);
  return os.good();
}

#ifndef NUMERIC_JACOBIAN_THREE_D_TYPES
void EdgePointXYZ::linearizeOplus() {
  _jacobianOplusXi = -Matrix3::Identity();
  _jacobianOplusXj = Matrix3::Identity();
}
#endif

}  // namespace g2o
