// 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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#ifndef KKL_G2O_EDGE_SE3_PRIORVEC_HPP
#define KKL_G2O_EDGE_SE3_PRIORVEC_HPP

#include <g2o/types/slam3d/types_slam3d.h>
#include <g2o/types/slam3d_addons/types_slam3d_addons.h>

namespace g2o {
class EdgeSE3PriorVec : public g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 6, 1>, g2o::VertexSE3> {
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE3PriorVec() : g2o::BaseUnaryEdge<3, Eigen::Matrix<double, 6, 1>, g2o::VertexSE3>() {}

  void computeError() override {
    const g2o::VertexSE3* v1 = static_cast<const g2o::VertexSE3*>(_vertices[0]);

    Eigen::Vector3d direction = _measurement.head<3>();
    Eigen::Vector3d measurement = _measurement.tail<3>();

    Eigen::Vector3d estimate = (v1->estimate().linear().inverse() * direction);

    _error = estimate - measurement;
  }

  void setMeasurement(const Eigen::Matrix<double, 6, 1>& m) override {
    _measurement.head<3>() = m.head<3>().normalized();
    _measurement.tail<3>() = m.tail<3>().normalized();
  }

  virtual bool read(std::istream& is) override {
    Eigen::Matrix<double, 6, 1> v;
    is >> v[0] >> v[1] >> v[2] >> v[3] >> v[4] >> v[5];
    setMeasurement(v);
    for(int i = 0; i < information().rows(); ++i)
      for(int j = i; j < information().cols(); ++j) {
        is >> information()(i, j);
        if(i != j) information()(j, i) = information()(i, j);
      }
    return true;
  }
  virtual bool write(std::ostream& os) const override {
    Eigen::Matrix<double, 6, 1> v = _measurement;
    os << v[0] << " " << v[1] << " " << v[2] << " " << v[3] << " " << v[4] << " " << v[5];
    for(int i = 0; i < information().rows(); ++i)
      for(int j = i; j < information().cols(); ++j) os << " " << information()(i, j);
    return os.good();
  }
};
}  // namespace g2o

#endif