linear_solver.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// 
// g2o is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published
// by the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// g2o is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
// 
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef LINEAR_SOLVER_H
#define LINEAR_SOLVER_H
#include "sparse_block_matrix.h"

namespace g2o {

template <typename MatrixType>
class LinearSolver
{
  public:
    LinearSolver() {};
    virtual ~LinearSolver() {}

    virtual bool init() = 0;

    virtual bool solve
       (const SparseBlockMatrix<MatrixType>& A, double* x, double* b) = 0;

    virtual bool solveBlocks
       (double**&blocks, const SparseBlockMatrix<MatrixType>& A)
    {
       (void) blocks;
       (void) A;
        return false; 
    }


    virtual bool solvePattern
    (
       SparseBlockMatrix<MatrixXd>& spinv,
       const std::vector<std::pair<int, int> >& blockIndices,
       const SparseBlockMatrix<MatrixType>& A
    )
    {
       (void) spinv;
       (void) blockIndices;
       (void) A;
       return false;
    }
};

} // end namespace

#endif