// 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 "g2o/core/base_unary_edge.h"
#include "g2o_types_slam2d_api.h"
#include "vertex_se2.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 double* d) {
    _measurement[0] = d[0];
    _measurement[1] = d[1];
    return true;
  }

  virtual bool getMeasurementData(double* 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;
  }
};

}  // namespace g2o

#endif
