// 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:
//
// * 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_SE3_PRIOR_XYZ_H
#define G2O_EDGE_SE3_PRIOR_XYZ_H

#include "vertex_se3.h"
#include "g2o/core/base_unary_edge.h"
#include "parameter_se3_offset.h"
#include "g2o_types_slam3d_api.h"

namespace g2o {
  /**
   * \brief Prior for a 3D pose with constraints only in xyz direction
   */
  class G2O_TYPES_SLAM3D_API EdgeSE3XYZPrior : public BaseUnaryEdge<3, Vector3, VertexSE3>
  {
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    EdgeSE3XYZPrior();

    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 read(std::istream& is);
    virtual bool write(std::ostream& os) const;
    virtual void computeError();
    virtual void linearizeOplus();
    virtual bool setMeasurementFromState();

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

    const ParameterSE3Offset* offsetParameter() { return _offsetParam; }

  protected:
    virtual bool resolveCaches();
    ParameterSE3Offset* _offsetParam;
    CacheSE3Offset* _cache;
  };

} // end namespace

#endif
