g2o::EdgeTypesCostFunction Struct Reference

#include <edge_types_cost_function.h>

Inheritance diagram for g2o::EdgeTypesCostFunction:

Collaboration diagram for g2o::EdgeTypesCostFunction:

Public Member Functions
	EdgeTypesCostFunction (std::string edgeTag, std::string vertexTag, int level)
virtual double	operator() (HyperGraph::Edge *e_, HyperGraph::Vertex *from, HyperGraph::Vertex *to)
	cost operator More...
Public Member Functions inherited from g2o::HyperDijkstra::CostFunction
virtual	~CostFunction ()

Public Attributes
std::string	_edgeTag
std::string	_vertexTag
Factory *	_factory
int	_level

Detailed Description

Cost function for Hyper-Dijkstra that returns 1 when for edges that belong to a given type and maxdouble otherwise. It can be used to construct a backbone of a hierarchical graph by running Dijkstra.

Definition at line 15 of file edge_types_cost_function.h.

Constructor & Destructor Documentation

g2o::EdgeTypesCostFunction::EdgeTypesCostFunction	(	std::string	edgeTag,
		std::string	vertexTag,
		int	level
	)

creates a cost function that matches edges at a given level, whose tag is the one given and that are leaving/leading to vertices of a selected type.

Parameters

edgeTag	the tag of the edge type to consider
vertexTag	the tag of the vertex to consider
level	the level of the edge

Definition at line 7 of file edge_types_cost_function.cpp.

                                                                                               :
    _edgeTag(edgeTag),
    _vertexTag(vertexTag),
    _factory(Factory::instance()),
    _level(level)
  {}

Member Function Documentation

double g2o::EdgeTypesCostFunction::operator() ( HyperGraph::Edge *  e_, HyperGraph::Vertex *  from, HyperGraph::Vertex *  to  )

virtual

cost operator

Implements g2o::HyperDijkstra::CostFunction.

Definition at line 14 of file edge_types_cost_function.cpp.

References _edgeTag, _factory, _level, _vertexTag, g2o::OptimizableGraph::Edge::level(), and g2o::Factory::tag().

                                                                                                           {
    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();
  }

Member Data Documentation

std::string g2o::EdgeTypesCostFunction::_edgeTag

Definition at line 26 of file edge_types_cost_function.h.

Referenced by operator()().

Factory* g2o::EdgeTypesCostFunction::_factory

Definition at line 28 of file edge_types_cost_function.h.

Referenced by operator()().

int g2o::EdgeTypesCostFunction::_level

Definition at line 29 of file edge_types_cost_function.h.

Referenced by operator()().

std::string g2o::EdgeTypesCostFunction::_vertexTag

Definition at line 27 of file edge_types_cost_function.h.

Referenced by operator()().

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The documentation for this struct was generated from the following files:

• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_hierarchical/edge_types_cost_function.h
• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_hierarchical/edge_types_cost_function.cpp