// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, 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_EDGE_SE3_H_
#define G2O_EDGE_SE3_H_

#include "g2o/core/base_binary_edge.h"
#include "g2o_types_slam3d_api.h"
#include "vertex_se3.h"

namespace g2o {

/**
 * \brief Edge between two 3D pose vertices
 *
 * The transformation between the two vertices is given as an Isometry3.
 * If z denotes the measurement, then the error function is given as follows:
 * z^-1 * (x_i^-1 * x_j)
 */
class G2O_TYPES_SLAM3D_API EdgeSE3
    : public BaseBinaryEdge<6, Isometry3, VertexSE3, VertexSE3> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
  EdgeSE3();
  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

  void computeError();

  virtual void setMeasurement(const Isometry3& m) {
    _measurement = m;
    _inverseMeasurement = m.inverse();
  }

  virtual bool setMeasurementData(const double* d) {
    Eigen::Map<const Vector7> v(d);
    setMeasurement(internal::fromVectorQT(v));
    return true;
  }

  virtual bool getMeasurementData(double* d) const {
    Eigen::Map<Vector7> v(d);
    v = internal::toVectorQT(_measurement);
    return true;
  }

  void linearizeOplus();

  virtual int measurementDimension() const { return 7; }

  virtual bool setMeasurementFromState();

  virtual double initialEstimatePossible(
      const OptimizableGraph::VertexSet& /*from*/,
      OptimizableGraph::Vertex* /*to*/) {
    return 1.;
  }

  virtual void initialEstimate(const OptimizableGraph::VertexSet& from,
                               OptimizableGraph::Vertex* to);

 protected:
  Isometry3 _inverseMeasurement;
};

/**
 * \brief Output the pose-pose constraint to Gnuplot data file
 */
class G2O_TYPES_SLAM3D_API EdgeSE3WriteGnuplotAction
    : public WriteGnuplotAction {
 public:
  EdgeSE3WriteGnuplotAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};

#ifdef G2O_HAVE_OPENGL
/**
 * \brief Visualize a 3D pose-pose constraint
 */
class G2O_TYPES_SLAM3D_API EdgeSE3DrawAction : public DrawAction {
 public:
  EdgeSE3DrawAction();
  virtual HyperGraphElementAction* operator()(
      HyperGraph::HyperGraphElement* element,
      HyperGraphElementAction::Parameters* params_);
};
#endif

}  // namespace g2o
#endif
