agv_ros_ws/space_slam/pose_graph/occupied_space_cost_function.h

/*
 * Copyright 2019 The space location Authors
 */

#ifndef SPACE_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_
#define SPACE_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_

#include "common/common.h"
#include "map/map.h"
#include "ceres/ceres.h"

namespace hlzn_slam {
namespace ceres_matching {

ceres::CostFunction* CreateOccupiedSpaceCostFunction(
    const double scaling_factor, const common::PointCloud& point_cloud,
    Map& map);

}  // namespace scan_matching
}  // namespace space_location

#endif