edge_creator.h

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#ifndef G2O_EDGE_CREATOR_
#define G2O_EDGE_CREATOR_

#include "g2o/core/sparse_optimizer.h"
#include <Eigen/Core>
#include <vector>

#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(std::string vertexTypes);


  OptimizableGraph::Edge* createEdge(std::vector<OptimizableGraph::Vertex*>& vertices );

protected:
  EntryMap _vertexToEdgeMap;
};


} // end namespace
#endif