solver_slam2d_linear.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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#ifndef G2O_SOLVER_SLAM2D_LINEAR
#define G2O_SOLVER_SLAM2D_LINEAR
 
#include "g2o/core/optimization_algorithm_gauss_newton.h"
#include "g2o_slam2d_linear_api.h"
 
namespace g2o {

class G2O_SLAM2D_LINEAR_API SolverSLAM2DLinear
    : public OptimizationAlgorithmGaussNewton {
 public:
  explicit SolverSLAM2DLinear(std::unique_ptr<Solver> solver);
  virtual ~SolverSLAM2DLinear();
 
  virtual OptimizationAlgorithm::SolverResult solve(int iteration,
                                                    bool online = false);
 
 protected:
  bool solveOrientation();
};
 
}  // namespace g2o
 
#endif