g2o::EdgeTypesCostFunction Struct Reference

#include <edge_types_cost_function.h>

Inheritance diagram for g2o::EdgeTypesCostFunction:

Collaboration diagram for g2o::EdgeTypesCostFunction:

Public Member Functions
	EdgeTypesCostFunction (const std::string &edgeTag, const std::string &vertexTag, int level)
virtual double	operator() (HyperGraph::Edge *e_, HyperGraph::Vertex *from, HyperGraph::Vertex *to)
	cost operator
Public Member Functions inherited from g2o::HyperDijkstra::CostFunction
virtual	~CostFunction ()

Public Attributes
std::string	_edgeTag
std::string	_vertexTag
Factory *	_factory
int	_level

Detailed Description

Cost function for Hyper-Dijkstra that returns 1 when for edges that belong to a given type and maxdouble otherwise. It can be used to construct a backbone of a hierarchical graph by running Dijkstra.

Definition at line 44 of file edge_types_cost_function.h.

Constructor & Destructor Documentation

EdgeTypesCostFunction()

g2o::EdgeTypesCostFunction::EdgeTypesCostFunction	(	const std::string &	edgeTag,
		const std::string &	vertexTag,
		int	level
	)

creates a cost function that matches edges at a given level, whose tag is the one given and that are leaving/leading to vertices of a selected type.

Parameters

edgeTag	the tag of the edge type to consider
vertexTag	the tag of the vertex to consider
level	the level of the edge

Definition at line 35 of file edge_types_cost_function.cpp.

    : _edgeTag(edgeTag),
      _vertexTag(vertexTag),
      _factory(Factory::instance()),
      _level(level) {}

Member Function Documentation

operator()()

double g2o::EdgeTypesCostFunction::operator() ( HyperGraph::Edge *  e_, HyperGraph::Vertex *  from, HyperGraph::Vertex *  to  )

virtual

cost operator

Implements g2o::HyperDijkstra::CostFunction.

Definition at line 43 of file edge_types_cost_function.cpp.

                                                               {
  OptimizableGraph::Edge* e = (OptimizableGraph::Edge*)(e_);
  if (e->level() == _level && _factory->tag(e) == _edgeTag &&
      _factory->tag(from) == _vertexTag && _factory->tag(to) == _vertexTag) {
    return 1.;
  }
  return std::numeric_limits<double>::max();
}

References _edgeTag, _factory, _level, _vertexTag, g2o::OptimizableGraph::Edge::level(), and g2o::Factory::tag().

Member Data Documentation

_edgeTag

std::string g2o::EdgeTypesCostFunction::_edgeTag

Definition at line 57 of file edge_types_cost_function.h.

Referenced by operator()().

_factory

Factory* g2o::EdgeTypesCostFunction::_factory

Definition at line 59 of file edge_types_cost_function.h.

Referenced by operator()().

_level

int g2o::EdgeTypesCostFunction::_level

Definition at line 60 of file edge_types_cost_function.h.

Referenced by operator()().

_vertexTag

std::string g2o::EdgeTypesCostFunction::_vertexTag

Definition at line 58 of file edge_types_cost_function.h.

Referenced by operator()().

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The documentation for this struct was generated from the following files:

• /build/reproducible-path/g2o-0~20230806/g2o/examples/g2o_hierarchical/edge_types_cost_function.h
• /build/reproducible-path/g2o-0~20230806/g2o/examples/g2o_hierarchical/edge_types_cost_function.cpp