45 lines
1.3 KiB
C++
45 lines
1.3 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_LOSS_FUNCTION_H_
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#define CARTOGRAPHER_POSE_GRAPH_CONSTRAINT_LOSS_FUNCTION_H_
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#include <memory>
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#include "cartographer/pose_graph/proto/loss_function.pb.h"
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#include "ceres/loss_function.h"
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namespace cartographer {
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namespace pose_graph {
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class LossFunction {
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public:
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explicit LossFunction(const proto::LossFunction& proto);
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const proto::LossFunction& ToProto() const { return proto_; }
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ceres::LossFunction* ceres_loss() const { return ceres_loss_.get(); }
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private:
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const proto::LossFunction proto_;
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const std::unique_ptr<ceres::LossFunction> ceres_loss_;
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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_LOSS_FUNCTION_H_
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