// 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
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef G2O_VERTEX_LINE3D_H_
#define G2O_VERTEX_LINE3D_H_

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

#include "g2o_types_slam3d_addons_api.h"
#include "line3d.h"

namespace g2o {

  class G2O_TYPES_SLAM3D_ADDONS_API VertexLine3D : public BaseVertex<4, Line3D> {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;

    VertexLine3D();
    virtual bool read(std::istream& is);
    virtual bool write(std::ostream& os) const;

    virtual void setToOriginImpl() { _estimate = Line3D(); }

    virtual void oplusImpl(const number_t* update_) {
      Eigen::Map<const Vector4> update(update_);
      _estimate.oplus(update);
    }

    virtual bool setEstimateDataImpl(const number_t* est) {
      Eigen::Map<const Vector6> _est(est);
      _estimate = Line3D(_est);
      return true;
    }

    virtual bool getEstimateData(number_t* est) const {
      Eigen::Map<Vector6> _est(est);
      _est = _estimate;
      return true;
    }

    virtual int estimateDimension() const {
      return 6;
    }

    Vector3 color;
  };

#ifdef G2O_HAVE_OPENGL
  class VertexLine3DDrawAction : public DrawAction {
  public:
    VertexLine3DDrawAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
						HyperGraphElementAction::Parameters* params_);
  protected:
    virtual bool refreshPropertyPtrs(HyperGraphElementAction::Parameters* params_);
    FloatProperty* _lineLength, *_lineWidth;

  };
#endif

}
#endif
