// 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
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#include "edge_se2_xyprior.h"

namespace g2o {

  EdgeSE2XYPrior::EdgeSE2XYPrior() : BaseUnaryEdge< 2, Eigen::Vector2d, g2o::VertexSE2 >()
  {
    
  }

  bool EdgeSE2XYPrior::read(std::istream& is)
  {
    Eigen::Vector2d p;
    is >> p[0] >> p[1];
    setMeasurement(p);    
    for (int i = 0; i < 2; ++i)
      for (int j = i; j < 2; ++j) {
        is >> information()(i, j);
        if (i != j)
          information()(j, i) = information()(i, j);
      }
    return true;
  }

  bool EdgeSE2XYPrior::write(std::ostream& os) const
  {
    Eigen::Vector2d p = measurement();
    os << p[0] << " " << p[1];
    for (int i = 0; i < 2; ++i)
      for (int j = i; j < 2; ++j)
        os << " " << information()(i, j);
    return os.good();
  }

  void EdgeSE2XYPrior::linearizeOplus()
  {
    _jacobianOplusXi << 1,0,0, 0,1,0;
  }

} // end namespace
