edge_types_cost_function.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard
// All rights reserved.
//
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// met:
//
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#ifndef G2O_EDGE_TYPES_COST_FUNCTION_
#define G2O_EDGE_TYPES_COST_FUNCTION_
 
#include <string>
 
#include "g2o/core/hyper_dijkstra.h"
#include "g2o/core/optimizable_graph.h"
 
namespace g2o {
 
class Factory;
 
struct EdgeTypesCostFunction : public HyperDijkstra::CostFunction {
  EdgeTypesCostFunction(const std::string& edgeTag,
                        const std::string& vertexTag, int level);
 
  virtual double operator()(HyperGraph::Edge* e_, HyperGraph::Vertex* from,
                            HyperGraph::Vertex* to);
 
  std::string _edgeTag;
  std::string _vertexTag;
  Factory* _factory;
  int _level;
};
 
}  // namespace g2o
#endif