graph_optimizer_sparse_online.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, 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
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#ifndef G2O_GRAPH_OPTIMIZER_SPARSE_ONLINE_H
#define G2O_GRAPH_OPTIMIZER_SPARSE_ONLINE_H
 
#include "g2o/core/sparse_optimizer.h"
#include "g2o_interactive_api.h"
 
namespace g2o {
 
class Solver;
 
class G2O_INTERACTIVE_API SparseOptimizerOnline : public SparseOptimizer {
 public:
  explicit SparseOptimizerOnline(bool pcg = false);
  virtual ~SparseOptimizerOnline();
 
  int optimize(int iterations, bool online = false);
 
  virtual bool updateInitialization(HyperGraph::VertexSet& vset,
                                    HyperGraph::EdgeSet& eset);
 
  void update(double* update);
 
  virtual bool initSolver(int dimension, int batchEveryN);
 
 public:
  int slamDimension;
 
  HyperGraph::EdgeSet* newEdges;
 
  bool batchStep;
  bool vizWithGnuplot;
 
  virtual void gnuplotVisualization();
 
 protected:
  FILE* _gnuplot;
  bool _usePcg;
  Solver* _underlyingSolver;
};
 
}  // namespace g2o
 
#endif