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.
  
  #ifndef G2O_EDGE_PLANE3D_H
  #define G2O_EDGE_PLANE3D_H
  
  #include "g2o_types_slam3d_addons_api.h"
  #include "vertex_plane.h"
  #include "g2o/config.h"
  #include "g2o/core/base_binary_edge.h"
  
  namespace g2o
  {
  
  class G2O_TYPES_SLAM3D_ADDONS_API EdgePlane : public BaseBinaryEdge<4, Vector4D, VertexPlane, VertexPlane>
  {
  public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
      EdgePlane();
  
      void computeError()
      {
          const VertexPlane* v1 = static_cast<const VertexPlane*>(_vertices[0]);
          const VertexPlane* v2 = static_cast<const VertexPlane*>(_vertices[1]);
          _error = (v2->estimate().toVector() - v1->estimate().toVector() ) - _measurement;
      }
      virtual bool read(std::istream& is);
      virtual bool write(std::ostream& os) const;
  
      virtual void setMeasurement(const Vector4D& m){
          _measurement = m;
      }
  
      virtual bool setMeasurementData(const double* d){
          Eigen::Map<const Vector4D> m(d);
          _measurement=m;
          return true;
      }
  
      virtual bool getMeasurementData(double* d) const {
          Eigen::Map<Vector4D> m(d);
          m=_measurement;
          return true;
      }
  
      virtual int measurementDimension() const {return 4;}
  
      virtual bool setMeasurementFromState() {
  
          const VertexPlane* v1 = static_cast<const VertexPlane*>(_vertices[0]);
          const VertexPlane* v2 = static_cast<const VertexPlane*>(_vertices[1]);
          _measurement = (v2->estimate().toVector())-v1->estimate().toVector();
  
          return true;
      }
  
  
      virtual double initialEstimatePossible(const OptimizableGraph::VertexSet& , OptimizableGraph::Vertex* ) { return 0;}
  #if 0
  #ifndef NUMERIC_JACOBIAN_THREE_D_TYPES
      virtual void linearizeOplus();
  #endif
  #endif
  };
  
  
  } // end namespace
  
  #endif
  