star.h

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#ifndef G2O_STAR_
#define G2O_STAR_

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

namespace g2o {
struct Star{
  Star(int level, SparseOptimizer* optimizer);

  bool labelStarEdges(int iterations, EdgeLabeler* labeler);

  inline int level() const { return _level; };
  inline SparseOptimizer* optimizer() { return _optimizer;}
  inline HyperGraph::EdgeSet& lowLevelEdges() {return _lowLevelEdges;}
  inline HyperGraph::EdgeSet& starEdges() {return _starEdges;}
  inline HyperGraph::EdgeSet& starFrontierEdges() {return _starFrontierEdges;}
  inline HyperGraph::VertexSet& gauge() {return _gauge;}
  inline HyperGraph::VertexSet& lowLevelVertices() {return _lowLevelVertices;}

  int _level;
  SparseOptimizer* _optimizer;
  HyperGraph::EdgeSet _lowLevelEdges;
  HyperGraph::EdgeSet _starEdges;
  HyperGraph::EdgeSet _starFrontierEdges;
  HyperGraph::VertexSet _gauge;
  HyperGraph::VertexSet _lowLevelVertices;
};

  typedef std::multimap<OptimizableGraph::Vertex*, Star*> VertexStarMultimap;
  typedef std::map<OptimizableGraph::Vertex*, Star*> VertexStarMap;
  typedef std::set<Star*> StarSet;
  typedef std::map<HyperGraph::Edge*, Star*> EdgeStarMap;


} // end namespace
#endif