// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 
// g2o is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// g2o is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
// 
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef G2O_VERTEX_SE3_EULER_
#define G2O_VERTEX_SE3_EULER_

#include "g2o_types_slam3d_addons_api.h"
#include "g2o/types/slam3d/vertex_se3.h"

namespace g2o {

/**
 * \brief 3D pose Vertex, (x,y,z,roll,pitch,yaw)
 * the internal parameterization is the same as veretx_se3_quat. 
 * Only the read/write operations are rewritten to input/output euler angles.
 */
class G2O_TYPES_SLAM3D_ADDONS_API VertexSE3Euler : public VertexSE3
{
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    virtual bool read(std::istream& is);
    virtual bool write(std::ostream& os) const;
};

} // end namespace

#endif
