backbone_tree_action.h

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#ifndef G2O_BACKBONE_TREE_ACTION_
#define G2O_BACKBONE_TREE_ACTION_

#include <string>
#include <map>
#include "g2o/core/sparse_optimizer.h"
#include "g2o/core/hyper_dijkstra.h"
#include "g2o/core/factory.h"
#include "star.h"

namespace g2o {

  struct BackBoneTreeAction: public HyperDijkstra::TreeAction{
    BackBoneTreeAction(SparseOptimizer* optimizer, std::string vertexTag, int level, int step);

    void init();

    inline VertexStarMap& vertexStarMap() {return _vsMap;}
    inline VertexStarMultimap& vertexStarMultiMap() {return _vsMmap;}
    inline HyperGraph::EdgeSet& freeEdges() {return _freeEdges;}

    virtual double perform(HyperGraph::Vertex* v,
         HyperGraph::Vertex* vParent,
         HyperGraph::Edge* e,
         double distance);

  protected:
    void  addToMap(Star* s, HyperGraph::Vertex* v);
    Star* getStar(HyperGraph::Vertex* v);

    bool fillStar(Star* s, HyperGraph::Edge* e_);

    SparseOptimizer* _optimizer;
    std::string _vertexTag;
    int  _level;
    int _step;

    VertexStarMap _vsMap;
    VertexStarMultimap _vsMmap;
    HyperGraph::EdgeSet _freeEdges;
    Factory * _factory;
  };

}
#endif