edge_types_cost_function.cpp

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#include <limits>
#include "g2o/core/factory.h"
#include "edge_types_cost_function.h"

namespace g2o {

  EdgeTypesCostFunction::EdgeTypesCostFunction(std::string edgeTag, std::string vertexTag, int level):
    _edgeTag(edgeTag),
    _vertexTag(vertexTag),
    _factory(Factory::instance()),
    _level(level)
  {}

  double EdgeTypesCostFunction::operator() (HyperGraph::Edge* e_, HyperGraph::Vertex* from, HyperGraph::Vertex* to){
    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();
  }

}