// 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,
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#ifndef G2O_VERTEX_TRACKXYZ_H_
#define G2O_VERTEX_TRACKXYZ_H_

#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"
#include "g2o_types_slam3d_api.h"

namespace g2o {
/**
 * \brief Vertex for a tracked point in space
 */
class G2O_TYPES_SLAM3D_API VertexPointXYZ : public BaseVertex<3, Vector3> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  VertexPointXYZ() {}
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

  virtual void setToOriginImpl() { _estimate.fill(0.); }

  virtual void oplusImpl(const double* update_) {
    Eigen::Map<const Vector3> update(update_);
    _estimate += update;
  }

  virtual bool setEstimateDataImpl(const double* est) {
    Eigen::Map<const Vector3> estMap(est);
    _estimate = estMap;
    return true;
  }

  virtual bool getEstimateData(double* est) const {
    Eigen::Map<Vector3> estMap(est);
    estMap = _estimate;
    return true;
  }

  virtual int estimateDimension() const { return Dimension; }

  virtual bool setMinimalEstimateDataImpl(const double* est) {
    _estimate = Eigen::Map<const Vector3>(est);
    return true;
  }

  virtual bool getMinimalEstimateData(double* est) const {
    Eigen::Map<Vector3> v(est);
    v = _estimate;
    return true;
  }

  virtual int minimalEstimateDimension() const { return Dimension; }
};

class G2O_TYPES_SLAM3D_API VertexPointXYZWriteGnuplotAction
    : public WriteGnuplotAction {
 public:
  VertexPointXYZWriteGnuplotAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};

#ifdef G2O_HAVE_OPENGL
/**
 * \brief visualize a 3D point
 */
class VertexPointXYZDrawAction : public DrawAction {
 public:
  VertexPointXYZDrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);

 protected:
  FloatProperty* _pointSize;
  virtual bool refreshPropertyPtrs(
      HyperGraphElementAction::Parameters* params_);
};
#endif

}  // namespace g2o
#endif
