text: // g2o - General Graph Optimization
  // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard
  // All rights reserved.
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  #ifndef G2O_BASE_UNARY_EDGE_H
  #define G2O_BASE_UNARY_EDGE_H
  
  #include <iostream>
  #include <cassert>
  #include <limits>
  
  #include "base_edge.h"
  #include "robust_kernel.h"
  #include "../../config.h"
  
  namespace g2o {
  
    using namespace Eigen;
  
    template <int D, typename E, typename VertexXi>
    class BaseUnaryEdge : public BaseEdge<D,E>
    {
      public:
        static const int Dimension = BaseEdge<D, E>::Dimension;
        typedef typename BaseEdge<D,E>::Measurement Measurement;
        typedef VertexXi VertexXiType;
        typedef typename Matrix<double, D, VertexXiType::Dimension>::AlignedMapType JacobianXiOplusType;
        typedef typename BaseEdge<D,E>::ErrorVector ErrorVector;
        typedef typename BaseEdge<D,E>::InformationType InformationType;
  
        BaseUnaryEdge() : BaseEdge<D,E>(),
          _jacobianOplusXi(0, D, VertexXiType::Dimension)
        {
          _vertices.resize(1);
        }
  
        virtual void resize(size_t size);
  
        virtual bool allVerticesFixed() const;
  
        virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);
  
        /**
         * Linearizes the oplus operator in the vertex, and stores
         * the result in temporary variables _jacobianOplusXi and _jacobianOplusXj
         */
        virtual void linearizeOplus();
  
        //! returns the result of the linearization in the manifold space for the node xi
        const JacobianXiOplusType& jacobianOplusXi() const { return _jacobianOplusXi;}
  
        virtual void constructQuadraticForm();
  
        virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
  
        virtual void mapHessianMemory(double*, int, int, bool) {assert(0 && "BaseUnaryEdge does not map memory of the Hessian");}
  
        using BaseEdge<D,E>::resize;
        using BaseEdge<D,E>::computeError;
  
      protected:
        using BaseEdge<D,E>::_measurement;
        using BaseEdge<D,E>::_information;
        using BaseEdge<D,E>::_error;
        using BaseEdge<D,E>::_vertices;
        using BaseEdge<D,E>::_dimension;
  
        JacobianXiOplusType _jacobianOplusXi;
  
      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  
  #include "base_unary_edge.hpp"
  
  } // end namespace g2o
  
  #endif
  