00001 // g2o - General Graph Optimization 00002 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 00003 // 00004 // g2o is free software: you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published 00006 // by the Free Software Foundation, either version 3 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // g2o is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00016 00017 #ifndef G2O_OUTPUT_HELPER_H 00018 #define G2O_OUTPUT_HELPER_H 00019 00020 #include <string> 00021 #include <iosfwd> 00022 #include "g2o/core/hyper_graph.h" 00023 00024 namespace g2o { 00025 00026 class OptimizableGraph; 00027 00031 bool saveGnuplot(const std::string& gnudump, const OptimizableGraph& optimizer); 00032 bool saveGnuplot(const std::string& gnudump, const HyperGraph::VertexSet& vertices, const HyperGraph::EdgeSet& edges); 00033 00037 bool dumpEdges(std::ostream& os, const OptimizableGraph& optimizer); 00038 00039 } // end namespace 00040 00041 #endif