// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, 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
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef G2O_ODOMETRY_SENSOR_
#define G2O_ODOMETRY_SENSOR_

#include "simulator.h"
namespace g2o {

  template <class  R, class  E, class O>
  class SensorOdometry: public BinarySensor<R, E, O > {
  public:
  SensorOdometry(const std::string name_): BinarySensor<R, E, O> (name_){};
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    virtual void sense(){
      if (!  BinarySensor<R, E, O>::robot())
  return;
      
      typename BinarySensor<R, E, O>::RobotType* r =dynamic_cast<typename BinarySensor<R, E, O>::RobotType*>(robot());
      if (!r)
  return;
      
      PoseObject* pprev=0, *pcurr=0;
      std::list<PoseObject*>::reverse_iterator it=r->trajectory().rbegin();
      if (it!=r->trajectory().rend()){
  pcurr = *it; 
  it++;
      }
      if (it!=r->trajectory().rend()){
  pprev = *it; 
  it++;
      }
      if (!(pcurr&&pprev)) {
  cerr << __PRETTY_FUNCTION__ << ": fatal, trajectory empty" << endl;
  return;
      }
      _robotPoseObject = pprev;
      EdgeType* e=mkEdge(pcurr);
      if (e){
  addNoise(e);
  if (graph())
    graph()->addEdge(e);
      }
    _robotPoseObject = pcurr;
    
    }
  };

}
#endif

