optimization_algorithm_with_hessian.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_OPTIMIZATION_ALGORITHM_WITH_HESSIAN_H
#define G2O_OPTIMIZATION_ALGORITHM_WITH_HESSIAN_H
 
#include "g2o_core_api.h"
#include "optimization_algorithm.h"
 
namespace g2o {
 
class Solver;

class G2O_CORE_API OptimizationAlgorithmWithHessian
    : public OptimizationAlgorithm {
 public:
  explicit OptimizationAlgorithmWithHessian(Solver& solver);
  virtual ~OptimizationAlgorithmWithHessian();
 
  virtual bool init(bool online = false);
 
  virtual bool computeMarginals(
      SparseBlockMatrix<MatrixX>& spinv,
      const std::vector<std::pair<int, int> >& blockIndices);
 
  virtual bool buildLinearStructure();
 
  virtual void updateLinearSystem();
 
  virtual bool updateStructure(const std::vector<HyperGraph::Vertex*>& vset,
                               const HyperGraph::EdgeSet& edges);

  Solver& solver() { return _solver; }

  virtual void setWriteDebug(bool writeDebug);
  virtual bool writeDebug() const { return _writeDebug->value(); }
 
 protected:
  Solver& _solver;
  Property<bool>* _writeDebug;
};
 
}  // namespace g2o
 
#endif