tools.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, 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
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#ifndef G2O_AIS_GRAPH_TOOLS_HH
#define G2O_AIS_GRAPH_TOOLS_HH
 
#include "g2o/core/hyper_dijkstra.h"
#include "g2o/core/hyper_graph.h"
 
namespace g2o {
 
void findConnectedEdgesWithCostLimit(HyperGraph::EdgeSet& selected,
                                     HyperGraph::EdgeSet& border,
                                     HyperGraph::Edge* start,
                                     HyperDijkstra::CostFunction* cost,
                                     double maxEdgeCost,
                                     double comparisonConditioner = 1e-6);
};
 
#endif