// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   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_XY_H
#define G2O_EDGE_SE2_PRIOR_XY_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 with constraints only in xy direction (like gps)
   */
  class G2O_TYPES_SLAM2D_API EdgeSE2XYPrior : public BaseUnaryEdge<2, Vector2, VertexSE2>
  {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
    EdgeSE2XYPrior();

    virtual bool setMeasurementData(const number_t* d)
    {
      _measurement[0]=d[0];
      _measurement[1]=d[1];
      return true;
    }

    virtual bool getMeasurementData(number_t* d) const
    {
      d[0] = _measurement[0];
      d[1] = _measurement[1];
      return true;
    }

    virtual int measurementDimension() const {return 2;}

    virtual void linearizeOplus();

    virtual bool read(std::istream& is);
    virtual bool write(std::ostream& os) const;
      
    virtual void computeError()
    {
      const VertexSE2* v = static_cast<const VertexSE2*>(_vertices[0]);
      _error = v->estimate().translation() - _measurement;
    }
  };

} // end namespace

#endif
