// 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
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#ifndef G2O_EDGE_SE2_PRIOR_H
#define G2O_EDGE_SE2_PRIOR_H

#include "vertex_se2.h"
#include "g2o/core/base_unary_edge.h"
#include "g2o_types_slam2d_api.h"

namespace g2o {

  /**
   * \brief Prior for a two D pose
   */
  class G2O_TYPES_SLAM2D_API EdgeSE2Prior : public BaseUnaryEdge<3, SE2, VertexSE2>
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
      EdgeSE2Prior();

      void computeError()
      {
        const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
        SE2 delta = _inverseMeasurement * v1->estimate();
        _error = delta.toVector();
      }

      virtual void linearizeOplus() {
        _jacobianOplusXi.setZero();
        _jacobianOplusXi.block<2,2>(0,0)=_inverseMeasurement.rotation().toRotationMatrix();
        _jacobianOplusXi(2,2)=1.;
      }

      virtual void setMeasurement(const SE2& m);
      virtual bool setMeasurementData(const number_t* d);

      virtual bool getMeasurementData(number_t* d) const {
        Eigen::Map<Vector3> v(d);
        v = _measurement.toVector();
        return true;
      }

      int measurementDimension() const {return 3;}

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

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

    protected:
      SE2 _inverseMeasurement;
  };

}

#endif
