edge_se2MaxMixture.h
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1 /*
2  * edge_se2MaxMixture.h
3  *
4  * Created on: 12.06.2012
5  * Author: niko
6  */
7 
8 #ifndef EDGE_SE2MAXMIXTURE_H_
9 #define EDGE_SE2MAXMIXTURE_H_
10 
11 #include "g2o/types/slam2d/vertex_se2.h"
12 #include "g2o/types/slam2d/edge_se2.h"
13 
14 
15 class EdgeSE2MaxMixture : public g2o::EdgeSE2
16 {
17  public:
19 
20  virtual bool read(std::istream& is);
21  virtual bool write(std::ostream& os) const;
22  void computeError();
23  void linearizeOplus();
24 
25  double weight;
26 
28 
29  InformationType information_nullHypothesis;
31  InformationType information_constraint;
32  double nu_constraint ;
33 };
34 
35 
36 #ifdef G2O_HAVE_OPENGL
37  class EdgeSE2MaxMixtureDrawAction: public g2o::DrawAction{
38  public:
39  EdgeSE2MaxMixtureDrawAction();
40  virtual g2o::HyperGraphElementAction* operator()(g2o::HyperGraph::HyperGraphElement* element,
41  g2o::HyperGraphElementAction::Parameters* params_);
42  };
43 #endif
44 
45 
46 #endif /* EDGE_SE2MAXMIXTURE_H_ */
virtual bool write(std::ostream &os) const
InformationType information_constraint
InformationType information_nullHypothesis
virtual bool read(std::istream &is)


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Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:58