/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License. 
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
 * See the License for the specific language governing permissions and
 * limitations under the License. 
 */

#ifndef CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_COST_FUNCTIONS_SPA_COST_FUNCTION_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_COST_FUNCTIONS_SPA_COST_FUNCTION_2D_H_

#include "cartographer/mapping/pose_graph_interface.h"
#include "ceres/ceres.h"

namespace cartographer {
namespace mapping {
namespace optimization {

ceres::CostFunction* CreateAutoDiffSpaCostFunction(
    const PoseGraphInterface::Constraint::Pose& pose);

ceres::CostFunction* CreateAnalyticalSpaCostFunction(
    const PoseGraphInterface::Constraint::Pose& pose);

}  // namespace optimization
}  // namespace mapping
}  // namespace cartographer

#endif  // CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_COST_FUNCTIONS_SPA_COST_FUNCTION_2D_H_
