edge_creator.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
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#ifndef G2O_EDGE_CREATOR_
#define G2O_EDGE_CREATOR_
 
#include <vector>
 
#include "g2o/core/sparse_optimizer.h"
#include "g2o_hierarchical_api.h"
 
namespace g2o {

struct G2O_HIERARCHICAL_API EdgeCreator {
  struct EdgeCreatorEntry {
    EdgeCreatorEntry(const std::string& edgeTypeName,
                     const std::vector<int>& parameterIds)
        : _edgeTypeName(edgeTypeName), _parameterIds(parameterIds) {}
 
    EdgeCreatorEntry(const std::string& edgeTypeName)
        : _edgeTypeName(edgeTypeName) {}
 
    std::string _edgeTypeName;
    std::vector<int> _parameterIds;
  };
 
  typedef std::map<std::string, EdgeCreatorEntry> EntryMap;

  bool addAssociation(const std::string& vertexTypes,
                      const std::string& edgeType);

  bool addAssociation(const std::string& vertexTypes,
                      const std::string& edgeType,
                      const std::vector<int>& parameterIds);

  bool removeAssociation(const std::string& vertexTypes);

  OptimizableGraph::Edge* createEdge(
      std::vector<OptimizableGraph::Vertex*>& vertices);
 
 protected:
  EntryMap _vertexToEdgeMap;
};
 
}  // namespace g2o
#endif