star.h

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// 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
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#ifndef G2O_STAR_
#define G2O_STAR_
 
#include <Eigen/Core>
#include <map>
#include <set>
#include <vector>
 
#include "edge_labeler.h"
#include "g2o/core/sparse_optimizer.h"
 
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;
 
}  // namespace g2o
#endif