types_slam2d_addons.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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#include "types_slam2d_addons.h"

#include "g2o/core/factory.h"

#include "g2o/stuff/macros.h"

#include <iostream>

namespace g2o {

  G2O_REGISTER_TYPE_GROUP(slam2d_segment);

  G2O_REGISTER_TYPE(VERTEX_SEGMENT2D, VertexSegment2D);
  G2O_REGISTER_TYPE(VERTEX_LINE2D, VertexLine2D);

  G2O_REGISTER_TYPE(EDGE_SE2_SEGMENT2D, EdgeSE2Segment2D);
  G2O_REGISTER_TYPE(EDGE_SE2_SEGMENT2D_LINE, EdgeSE2Segment2DLine);
  G2O_REGISTER_TYPE(EDGE_SE2_SEGMENT2D_POINTLINE, EdgeSE2Segment2DPointLine);
  G2O_REGISTER_TYPE(EDGE_SE2_LINE2D, EdgeSE2Line2D);
        G2O_REGISTER_TYPE(EDGE_LINE2D, EdgeLine2D);
  G2O_REGISTER_TYPE(EDGE_LINE2D_POINTXY, EdgeLine2DPointXY);

#ifdef G2O_HAVE_OPENGL
  G2O_REGISTER_ACTION(VertexSegment2DDrawAction);
  G2O_REGISTER_ACTION(VertexLine2DDrawAction);
#endif

} // end namespace