text: // 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
  // 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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  // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  #ifndef EDGE_SE2_PURE_CALIB_H
  #define EDGE_SE2_PURE_CALIB_H
  
  #include "g2o/core/base_binary_edge.h"
  #include "g2o/types/sclam2d/odometry_measurement.h"
  #include "g2o/types/sclam2d/vertex_odom_differential_params.h"
  #include "g2o/types/slam2d/vertex_se2.h"
  #include "g2o_calibration_odom_laser_api.h"
  
  namespace g2o {
  
  struct G2O_CALIBRATION_ODOM_LASER_API OdomAndLaserMotion {
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
    VelocityMeasurement velocityMeasurement;
    SE2 laserMotion;
  };
  
  /**
   * \brief calibrate odometry and laser based on a set of measurements
   */
  class G2O_CALIBRATION_ODOM_LASER_API EdgeSE2PureCalib
      : public BaseBinaryEdge<3, OdomAndLaserMotion, VertexSE2,
                              VertexOdomDifferentialParams> {
   public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
    EdgeSE2PureCalib();
  
    void computeError();
  
    virtual bool read(std::istream& is);
    virtual bool write(std::ostream& os) const;
  };
  
  }  // namespace g2o
  
  #endif
  