// 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.
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#ifndef G2O_EDGE_XYZ_PRIOR_H_
#define G2O_EDGE_XYZ_PRIOR_H_

#include "g2o/core/base_unary_edge.h"
#include "g2o_types_slam3d_api.h"
#include "vertex_pointxyz.h"

namespace g2o {
  /**
   * \brief prior for an XYZ vertex (VertexPointXYZ)
   *
   * Provides a prior for a 3d point vertex. The measurement is represented by a
   * Vector3 with a corresponding 3x3 upper triangle covariance matrix (upper triangle only).
   */
  class G2O_TYPES_SLAM3D_API EdgeXYZPrior : public BaseUnaryEdge<3, Vector3, VertexPointXYZ> {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    EdgeXYZPrior();
    virtual bool read(std::istream& is);
    virtual bool write(std::ostream& os) const;

    void computeError();
    
    // jacobian
    virtual void linearizeOplus();

    virtual void setMeasurement(const Vector3& m){
      _measurement = m;
    }

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

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

    virtual int measurementDimension() const { return 3; }

    virtual bool setMeasurementFromState() ;

    virtual number_t initialEstimatePossible(const OptimizableGraph::VertexSet& /*from*/, 
             OptimizableGraph::Vertex* /*to*/) { 
      return 0;
    }
  };

}
#endif
