// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
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#include "edge_types_cost_function.h"

#include <limits>

#include "g2o/core/factory.h"

namespace g2o {

EdgeTypesCostFunction::EdgeTypesCostFunction(const std::string& edgeTag,
                                             const std::string& vertexTag,
                                             int level)
    : _edgeTag(edgeTag),
      _vertexTag(vertexTag),
      _factory(Factory::instance()),
      _level(level) {}

double EdgeTypesCostFunction::operator()(HyperGraph::Edge* e_,
                                         HyperGraph::Vertex* from,
                                         HyperGraph::Vertex* to) {
  OptimizableGraph::Edge* e = (OptimizableGraph::Edge*)(e_);
  if (e->level() == _level && _factory->tag(e) == _edgeTag &&
      _factory->tag(from) == _vertexTag && _factory->tag(to) == _vertexTag) {
    return 1.;
  }
  return std::numeric_limits<double>::max();
}

}  // namespace g2o
