edge_se2MaxMixture.h
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00001 /*
00002  * edge_se2MaxMixture.h
00003  *
00004  *  Created on: 12.06.2012
00005  *      Author: niko
00006  */
00007 
00008 #ifndef EDGE_SE2MAXMIXTURE_H_
00009 #define EDGE_SE2MAXMIXTURE_H_
00010 
00011 #include "g2o/types/slam2d/vertex_se2.h"
00012 #include "g2o/types/slam2d/edge_se2.h"
00013 
00014 
00015 class EdgeSE2MaxMixture : public g2o::EdgeSE2
00016 {
00017   public:
00018     EdgeSE2MaxMixture();
00019 
00020     virtual bool read(std::istream& is);
00021     virtual bool write(std::ostream& os) const;
00022     void computeError();
00023     void linearizeOplus();
00024 
00025     double weight;
00026     
00027     bool nullHypothesisMoreLikely;
00028     
00029     InformationType information_nullHypothesis;
00030     double nu_nullHypothesis;
00031     InformationType information_constraint;
00032     double nu_constraint ;
00033 };
00034 
00035 
00036 #ifdef G2O_HAVE_OPENGL
00037     class EdgeSE2MaxMixtureDrawAction: public g2o::DrawAction{
00038     public:
00039       EdgeSE2MaxMixtureDrawAction();
00040       virtual g2o::HyperGraphElementAction* operator()(g2o::HyperGraph::HyperGraphElement* element,
00041               g2o::HyperGraphElementAction::Parameters* params_);
00042     };
00043 #endif
00044 
00045 
00046 #endif /* EDGE_SE2MAXMIXTURE_H_ */


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Author(s): Mathieu Labbe
autogenerated on Sat Jul 23 2016 11:44:16