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
  // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
  // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  #include "vertex_segment2d.h"
  
  #ifdef WINDOWS
  #include <windows.h>
  #endif
  
  #ifdef G2O_HAVE_OPENGL
  #include "g2o/stuff/opengl_wrapper.h"
  #endif
  
  #include <typeinfo>
  
  #include "g2o/stuff/macros.h"
  
  namespace g2o {
  
    VertexSegment2D::VertexSegment2D() :
      BaseVertex<4, Vector4>()
    {
      _estimate.setZero();
    }
  
    bool VertexSegment2D::read(std::istream& is)
    {
      return internal::readVector(is, _estimate);
    }
  
    bool VertexSegment2D::write(std::ostream& os) const
    {
      return internal::writeVector(os, estimate());
    }
  
    VertexSegment2DWriteGnuplotAction::VertexSegment2DWriteGnuplotAction(): WriteGnuplotAction(typeid(VertexSegment2D).name()){}
  
    HyperGraphElementAction* VertexSegment2DWriteGnuplotAction::operator()(HyperGraph::HyperGraphElement* element, HyperGraphElementAction::Parameters* params_){
      if (typeid(*element).name()!=_typeName)
        return nullptr;
  
      WriteGnuplotAction::Parameters* params=static_cast<WriteGnuplotAction::Parameters*>(params_);
      if (!params->os){
        std::cerr << __PRETTY_FUNCTION__ << ": warning, no valid os specified" << std::endl;
        return nullptr;
      }
  
      VertexSegment2D* v =  static_cast<VertexSegment2D*>(element);
      *(params->os) << v->estimateP1().x() << " " << v->estimateP1().y() << std::endl;
      *(params->os) << v->estimateP2().x() << " " << v->estimateP2().y() << std::endl;
      *(params->os) << std::endl;
      return this;
    }
  
  #ifdef G2O_HAVE_OPENGL
    VertexSegment2DDrawAction::VertexSegment2DDrawAction()
        : DrawAction(typeid(VertexSegment2D).name()), _pointSize(nullptr) {}
  
    bool VertexSegment2DDrawAction::refreshPropertyPtrs(HyperGraphElementAction::Parameters* params_){
      if (! DrawAction::refreshPropertyPtrs(params_))
        return false;
      if (_previousParams){
        _pointSize = _previousParams->makeProperty<FloatProperty>(_typeName + "::POINT_SIZE", 1.);
      } else {
        _pointSize = 0;
      }
      return true;
    }
  
    HyperGraphElementAction* VertexSegment2DDrawAction::operator()(HyperGraph::HyperGraphElement* element,
                       HyperGraphElementAction::Parameters* params_ ){
  
      if (typeid(*element).name()!=_typeName)
        return nullptr;
  
      refreshPropertyPtrs(params_);
      if (! _previousParams)
        return this;
  
      if (_show && !_show->value())
        return this;
  
      VertexSegment2D* that = static_cast<VertexSegment2D*>(element);
      glColor3f(0.8f,0.5f,0.3f);
      if (_pointSize) {
        glPointSize(_pointSize->value());
      }
      glBegin(GL_LINES);
      glVertex3f((float)that->estimateP1().x(),(float)that->estimateP1().y(),0.f);
      glVertex3f((float)that->estimateP2().x(),(float)that->estimateP2().y(),0.f);
      glEnd();
      return this;
    }
  #endif
  
  } // end namespace
  