// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// 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
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef G2O_VERTEX_SE2_H
#define G2O_VERTEX_SE2_H

#include "g2o/config.h"
#include "g2o/core/base_vertex.h"
#include "g2o/core/hyper_graph_action.h"
#include "se2.h"
#include "g2o_types_slam2d_api.h"

namespace g2o {

  /**
   * \brief 2D pose Vertex, (x,y,theta)
   */
  class G2O_TYPES_SLAM2D_API VertexSE2 : public BaseVertex<3, SE2>
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      VertexSE2();

      virtual void setToOriginImpl() {
        _estimate = SE2();
      }

      virtual void oplusImpl(const double* update)
      {
        Eigen::Vector2d t=_estimate.translation();
        t+=Eigen::Map<const Eigen::Vector2d>(update);
        double angle=normalize_theta(_estimate.rotation().angle() + update[2]);
        _estimate.setTranslation(t);
        _estimate.setRotation(Eigen::Rotation2Dd(angle));
      }

      virtual bool setEstimateDataImpl(const double* est){
        _estimate=SE2(est[0], est[1], est[2]);
        return true;
      }

      virtual bool getEstimateData(double* est) const {
        Eigen::Map<Eigen::Vector3d> v(est);
        v = _estimate.toVector();
        return true;
      }
      
      virtual int estimateDimension() const { return 3; }

      virtual bool setMinimalEstimateDataImpl(const double* est){
        return setEstimateData(est);
      }

      virtual bool getMinimalEstimateData(double* est) const {
        return getEstimateData(est);
      }
      
      virtual int minimalEstimateDimension() const { return 3; }

      virtual bool read(std::istream& is);
      virtual bool write(std::ostream& os) const;

  };

  class G2O_TYPES_SLAM2D_API VertexSE2WriteGnuplotAction: public WriteGnuplotAction {
  public:
    VertexSE2WriteGnuplotAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
            HyperGraphElementAction::Parameters* params_ );
  };

#ifdef G2O_HAVE_OPENGL
  class G2O_TYPES_SLAM2D_API VertexSE2DrawAction: public DrawAction{
  public:
    VertexSE2DrawAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
            HyperGraphElementAction::Parameters* params_ );
  protected:
    HyperGraphElementAction* _drawActions;
    virtual bool refreshPropertyPtrs(HyperGraphElementAction::Parameters* params_);
    FloatProperty* _triangleX, *_triangleY;

  };
#endif

} // end namespace

#endif
