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
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  // 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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  #include "edge_se2_prior.h"
  
  namespace g2o {
  
    EdgeSE2Prior::EdgeSE2Prior() : BaseUnaryEdge<3, SE2, VertexSE2>()
    {
    }
  
    void EdgeSE2Prior::initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to)
    {
      assert(from.size() == 0); (void) from; (void) to;
      VertexSE2* v1 = static_cast<VertexSE2*>(_vertices[0]);
      v1->setEstimate(_measurement);
    }
  
    bool EdgeSE2Prior::read(std::istream& is)
    {
      Vector3 p;
      is >> p[0] >> p[1] >> p[2];
      setMeasurement(p);
      _inverseMeasurement= _measurement.inverse();
      for (int i = 0; i < 3; ++i)
        for (int j = i; j < 3; ++j) {
          is >> information()(i, j);
          if (i != j)
            information()(j, i) = information()(i, j);
        }
      return true;
    }
  
    bool EdgeSE2Prior::write(std::ostream& os) const
    {
      Vector3 p = measurement().toVector();
      os << p.x() << " " << p.y() << " " << p.z();
      for (int i = 0; i < 3; ++i)
        for (int j = i; j < 3; ++j)
          os << " " << information()(i, j);
      return os.good();
    }
  
    void EdgeSE2Prior::setMeasurement(const SE2& m)
    {
      _measurement = m;
      _inverseMeasurement = m.inverse();
    }
  
    bool EdgeSE2Prior::setMeasurementData(const number_t* d) {
      _measurement=SE2(d[0], d[1], d[2]);
      _inverseMeasurement = _measurement.inverse();
      return true;
    }
  
  } // end namespace
  