64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_POSE_GRAPH_CONSTRAINT_CONSTRAINT_H_
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#define CARTOGRAPHER_POSE_GRAPH_CONSTRAINT_CONSTRAINT_H_
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#include "cartographer/pose_graph/constraint/loss_function/loss_function.h"
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#include "cartographer/pose_graph/node/nodes.h"
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#include "cartographer/pose_graph/proto/constraint.pb.h"
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#include "ceres/problem.h"
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#include <string>
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namespace cartographer {
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namespace pose_graph {
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using ConstraintId = std::string;
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class Constraint {
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public:
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Constraint(const ConstraintId& id,
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const proto::LossFunction& loss_function_proto)
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: constraint_id_(id), loss_function_(loss_function_proto) {}
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virtual ~Constraint() = default;
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Constraint(const Constraint&) = delete;
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Constraint& operator=(const Constraint&) = delete;
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proto::Constraint ToProto() const;
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const ConstraintId& constraint_id() const { return constraint_id_; }
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virtual void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const = 0;
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protected:
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virtual proto::CostFunction ToCostFunctionProto() const = 0;
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ceres::LossFunction* ceres_loss() const {
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return loss_function_.ceres_loss();
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}
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private:
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ConstraintId constraint_id_;
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LossFunction loss_function_;
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};
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} // namespace pose_graph
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} // namespace cartographer
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#endif // CARTOGRAPHER_POSE_GRAPH_CONSTRAINT_CONSTRAINT_H_
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