11 #ifndef EDGE_SE3SWITCHABLE_H_
12 #define EDGE_SE3SWITCHABLE_H_
14 #include "g2o/types/slam3d/vertex_se3.h"
15 #include "g2o/core/base_multi_edge.h"
16 #include "g2o/core/hyper_graph_action.h"
23 virtual bool read(std::istream& is);
24 virtual bool write(std::ostream&
os)
const;
38 #ifdef G2O_HAVE_OPENGL
39 class EdgeSE3SwitchableDrawAction:
public g2o::DrawAction{
41 EdgeSE3SwitchableDrawAction();
42 virtual g2o::HyperGraphElementAction*
operator()(g2o::HyperGraph::HyperGraphElement* element,
43 g2o::HyperGraphElementAction::Parameters* params_);