27 #ifndef G2O_OPTIMIZATION_ALGORITHM_WITH_HESSIAN_H 28 #define G2O_OPTIMIZATION_ALGORITHM_WITH_HESSIAN_H 45 virtual bool init(
bool online =
false);
virtual void setWriteDebug(bool writeDebug)
virtual bool updateStructure(const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)
virtual bool init(bool online=false)
Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg.
Solver * solver()
return the underlying solver used to solve the linear system
std::set< Edge * > EdgeSet
virtual ~OptimizationAlgorithmWithHessian()
Generic interface for a sparse solver operating on a graph which solves one iteration of the lineariz...
virtual bool buildLinearStructure()
virtual bool computeMarginals(SparseBlockMatrix< MatrixXd > &spinv, const std::vector< std::pair< int, int > > &blockIndices)
Property< bool > * _writeDebug
Generic interface for a non-linear solver operating on a graph.
virtual bool writeDebug() const
Sparse matrix which uses blocks.
virtual void updateLinearSystem()
OptimizationAlgorithmWithHessian(Solver *solver)