// 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:
//
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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_H
#define G2O_EDGE_SE2_H

#include "vertex_se2.h"
#include "g2o/config.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o_types_slam2d_api.h"

namespace g2o {

  /**
   * \brief 2D edge between two Vertex2
   */
  class G2O_TYPES_SLAM2D_API EdgeSE2 : public BaseBinaryEdge<3, SE2, VertexSE2, VertexSE2>
  {
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        EdgeSE2();

      void computeError()
      {
        const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
        const VertexSE2* v2 = static_cast<const VertexSE2*>(_vertices[1]);
        SE2 delta = _inverseMeasurement * (v1->estimate().inverse()*v2->estimate());
        _error = delta.toVector();
      }
      virtual bool read(std::istream& is);
      virtual bool write(std::ostream& os) const;

      virtual void setMeasurement(const SE2& m){
        _measurement = m;
        _inverseMeasurement = m.inverse();
      }

      virtual bool setMeasurementData(const double* d){
        _measurement=SE2(d[0], d[1], d[2]);
        _inverseMeasurement = _measurement.inverse();
        return true;
      }

      virtual bool getMeasurementData(double* d) const {
        Eigen::Vector3d v=_measurement.toVector();
        d[0] = v[0];
        d[1] = v[1];
        d[2] = v[2];
        return true;
      }

      virtual int measurementDimension() const {return 3;}

      virtual bool setMeasurementFromState() {
        const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
        const VertexSE2* v2 = static_cast<const VertexSE2*>(_vertices[1]);
        _measurement = v1->estimate().inverse()*v2->estimate();
        _inverseMeasurement = _measurement.inverse();
        return true;
      }


      virtual double initialEstimatePossible(const OptimizableGraph::VertexSet& , OptimizableGraph::Vertex* ) { return 1.;}
      virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
#ifndef NUMERIC_JACOBIAN_TWO_D_TYPES
      virtual void linearizeOplus();
#endif
    protected:
      SE2 _inverseMeasurement;
  };

  class G2O_TYPES_SLAM2D_API EdgeSE2WriteGnuplotAction: public WriteGnuplotAction {
  public:
    EdgeSE2WriteGnuplotAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
            HyperGraphElementAction::Parameters* params_);
  };

#ifdef G2O_HAVE_OPENGL
  class G2O_TYPES_SLAM2D_API EdgeSE2DrawAction: public DrawAction{
  public:
    EdgeSE2DrawAction();
    virtual HyperGraphElementAction* operator()(HyperGraph::HyperGraphElement* element, 
            HyperGraphElementAction::Parameters* params_);
  protected:
    virtual bool refreshPropertyPtrs(HyperGraphElementAction::Parameters* params_);
    FloatProperty* _triangleX, *_triangleY;

  };
#endif

} // end namespace

#endif
