sparse_optimizer_terminate_action.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
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#ifndef SPARSE_OPTIMIZER_TERMINATE_ACTION_H
#define SPARSE_OPTIMIZER_TERMINATE_ACTION_H
 
#include "g2o_core_api.h"
#include "hyper_graph_action.h"
 
namespace g2o {
 
class SparseOptimizer;

class G2O_CORE_API SparseOptimizerTerminateAction : public HyperGraphAction {
 public:
  SparseOptimizerTerminateAction();
  virtual HyperGraphAction* operator()(const HyperGraph* graph,
                                       Parameters* parameters = 0);
 
  double gainThreshold() const { return _gainThreshold; }
  void setGainThreshold(double gainThreshold);
 
  int maxIterations() const { return _maxIterations; }
  void setMaxIterations(int maxit);
 
 protected:
  double _gainThreshold;
  double _lastChi;
  bool _auxTerminateFlag;
  int _maxIterations;
 
  void setOptimizerStopFlag(const SparseOptimizer* optimizer, bool stop);
};
 
}  // namespace g2o
 
#endif