00001 // g2o - General Graph Optimization 00002 // Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard 00003 // 00004 // g2o is free software: you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published 00006 // by the Free Software Foundation, either version 3 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // g2o is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00016 00017 #ifndef GRAPH_OPTIMIZER_SPARSE_ONLINE_H 00018 #define GRAPH_OPTIMIZER_SPARSE_ONLINE_H 00019 00020 #include "g2o/core/graph_optimizer_sparse.h" 00021 00022 namespace g2o { 00023 00024 class SparseOptimizerOnline : public SparseOptimizer 00025 { 00026 public: 00027 explicit SparseOptimizerOnline(bool pcg=false); 00028 virtual ~SparseOptimizerOnline(); 00029 00030 int optimize(int iterations, bool online = false); 00031 00032 virtual bool updateInitialization(HyperGraph::VertexSet& vset, HyperGraph::EdgeSet& eset); 00033 00034 void update(double* update); 00035 00036 virtual bool initSolver(int dimension, int batchEveryN); 00037 00038 public: 00039 int slamDimension; 00040 00041 HyperGraph::EdgeSet* newEdges; 00042 00043 bool batchStep; 00044 bool vizWithGnuplot; 00045 00046 virtual void gnuplotVisualization(); 00047 00048 protected: 00049 FILE* _gnuplot; 00050 bool _usePcg; 00051 }; 00052 00053 } // end namespace 00054 00055 #endif