backbone_tree_action.h

Go to the documentation of this file.

// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, 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
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef G2O_BACKBONE_TREE_ACTION_
#define G2O_BACKBONE_TREE_ACTION_
 
#include <map>
#include <string>
 
#include "g2o/core/factory.h"
#include "g2o/core/hyper_dijkstra.h"
#include "g2o/core/sparse_optimizer.h"
#include "star.h"
 
namespace g2o {

struct BackBoneTreeAction : public HyperDijkstra::TreeAction {
  BackBoneTreeAction(SparseOptimizer* optimizer, const std::string& vertexTag,
                     int level, int step);

  void init();

  inline VertexStarMap& vertexStarMap() { return _vsMap; }
  inline VertexStarMultimap& vertexStarMultiMap() { return _vsMmap; }
  inline HyperGraph::EdgeSet& freeEdges() { return _freeEdges; }

  virtual double perform(HyperGraph::Vertex* v, HyperGraph::Vertex* vParent,
                         HyperGraph::Edge* e, double distance);
 
 protected:
  void addToMap(Star* s, HyperGraph::Vertex* v);
  Star* getStar(HyperGraph::Vertex* v);

  bool fillStar(Star* s, HyperGraph::Edge* e_);
 
  SparseOptimizer* _optimizer;
  std::string _vertexTag;
  int _level;
  int _step;
 
  VertexStarMap _vsMap;
  VertexStarMultimap _vsMmap;
  HyperGraph::EdgeSet _freeEdges;
  Factory* _factory;
};
 
}  // namespace g2o
#endif