Cal3DS2.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/geometry/Cal3DS2_Base.h>

namespace gtsam {

class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {

  typedef Cal3DS2_Base Base;

public:

  enum { dimension = 9 };


  Cal3DS2() : Base() {}

  Cal3DS2(double fx, double fy, double s, double u0, double v0,
      double k1, double k2, double p1 = 0.0, double p2 = 0.0) :
        Base(fx, fy, s, u0, v0, k1, k2, p1, p2) {}

  virtual ~Cal3DS2() {}


  Cal3DS2(const Vector &v) : Base(v) {}


  virtual void print(const std::string& s = "") const ;

  bool equals(const Cal3DS2& K, double tol = 10e-9) const;


  Cal3DS2 retract(const Vector& d) const ;

  Vector localCoordinates(const Cal3DS2& T2) const ;

  virtual size_t dim() const { return 9 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2)

  static size_t Dim() { return 9; }  //TODO: make a final dimension variable


  virtual boost::shared_ptr<Base> clone() const {
    return boost::shared_ptr<Base>(new Cal3DS2(*this));
  }



private:


  friend class boost::serialization::access;
  template<class Archive>
  void serialize(Archive & ar, const unsigned int /*version*/)
  {
    ar & boost::serialization::make_nvp("Cal3DS2",
        boost::serialization::base_object<Cal3DS2_Base>(*this));
  }


};

template<>
struct traits<Cal3DS2> : public internal::Manifold<Cal3DS2> {};

template<>
struct traits<const Cal3DS2> : public internal::Manifold<Cal3DS2> {};

}