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

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

  virtual int measurementDimension() const { return 3; }

  virtual bool setMeasurementFromState();

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

}  // namespace g2o
#endif
