edge_types_cost_function.h

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#ifndef G2O_EDGE_TYPES_COST_FUNCTION_
#define G2O_EDGE_TYPES_COST_FUNCTION_

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

namespace g2o {

struct EdgeTypesCostFunction: public HyperDijkstra::CostFunction {
  EdgeTypesCostFunction(std::string edgeTag, std::string vertexTag, int level);

  virtual double operator() (HyperGraph::Edge* e_, HyperGraph::Vertex* from, HyperGraph::Vertex* to);

  std::string _edgeTag;
  std::string _vertexTag;
  Factory* _factory;
  int _level;
};

}
#endif