vertex_se3_expmap.h

// g2o - General Graph Optimization
// Copyright (C) 2011 H. Strasdat
// 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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#pragma once
#include "base_vertex.h"
#include "se3quat.h"
#include "misc.h"
namespace NDEVR {

 
    
    class VertexSE3Expmap : public BaseVertex<6, SE3Quat> 
    {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW

        VertexSE3Expmap()
            : BaseVertex<6, SE3Quat>()
        {}

        void oplusImpl(const g_type* update_) override
        {
            Eigen::Map<const Vector6d> update(update_);
            setEstimate(SE3Quat::exp(update) * estimate());
        }
    };
 
}