types_sba.h

// g2o - General Graph Optimization
// Copyright (C) 2011 Kurt Konolige
// 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.
//
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#ifndef G2O_SBA_TYPES
#define G2O_SBA_TYPES
 
#include "base_vertex.h"
 
#include <Eigen/Geometry>
 
namespace NDEVR 
{

 class VertexSBAPointXYZ : public BaseVertex<3, Eigen::Vector3<g_type>>
{
  public:  
    VertexSBAPointXYZ()
        : BaseVertex<3, Eigen::Vector3<g_type>>()
    {
    }

    virtual void oplusImpl(const g_type* update)
    {
      Eigen::Map<const Eigen::Vector3<g_type>> v(update);
      _estimate += v;
    }
};
 
} // end namespace
 
#endif // SBA_TYPES