edge_labeler.h

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// 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
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#ifndef G2O_EDGE_LABELER_
#define G2O_EDGE_LABELER_
 
#include "g2o/core/sparse_optimizer.h"
#include "g2o_hierarchical_api.h"
 
namespace g2o {
struct G2O_HIERARCHICAL_API EdgeLabeler {
  EdgeLabeler(SparseOptimizer* optimizer);

  int labelEdges(std::set<OptimizableGraph::Edge*>& edges);
 
 protected:
  void augmentSparsePattern(std::set<std::pair<int, int> >& pattern,
                            OptimizableGraph::Edge* e);

  bool computePartialInverse(SparseBlockMatrix<Eigen::MatrixXd>& spinv,
                             const std::set<std::pair<int, int> >& pattern);

  bool labelEdge(const SparseBlockMatrix<Eigen::MatrixXd>& spinv,
                 OptimizableGraph::Edge* e);
  SparseOptimizer* _optimizer;
};
 
}  // namespace g2o
#endif