treeoptimizer2.hh

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/**********************************************************************
 *
 * This source code is part of the Tree-based Network Optimizer (TORO)
 *
 * TORO Copyright (c) 2007 Giorgio Grisetti, Cyrill Stachniss, 
 *                         Slawomir Grzonka, and Wolfram Burgard
 *
 * TORO is licences under the Common Creative License,
 * Attribution-NonCommercial-ShareAlike 3.0
 *
 * You are free:
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 *   - to Remix - to adapt the work
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 *     they endorse you or your use of the work).
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 *     you may distribute the resulting work only under the same or
 *     similar license to this one.
 *
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 * TORO is distributed in the hope that it will be useful,
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#ifndef _TREEOPTIMIZER2_HH_
#define _TREEOPTIMIZER2_HH_

#include "posegraph2.hh"

namespace AISNavigation {

struct TreeOptimizer2: public TreePoseGraph2{
  typedef std::vector<Pose> PoseVector;

  TreeOptimizer2();

  virtual ~TreeOptimizer2();

  void initializeTreeParameters();

  void initializeOptimization();

  void initializeOnlineOptimization();
  
  void iterate(TreePoseGraph2::EdgeSet* eset=0);

  double error() const;

protected:
  void computePreconditioner();

  void propagateErrors();

  void updatePoseChain(Vertex* v, Vertex* top);

  Pose getPose(Vertex*v, Vertex* top);

  double error(const Edge* e) const;

  int iteration;

  double gamma[3];

  PoseVector M;

};

}; //namespace AISNavigation
#endif