solver.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, 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
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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#ifndef G2O_SOLVER_H
#define G2O_SOLVER_H

#include "hyper_graph.h"
#include "batch_stats.h"
#include "sparse_block_matrix.h"
#include <cstddef>

namespace g2o {


  class SparseOptimizer;

  class  Solver
  {
    public:
      Solver();
      virtual ~Solver();

    public:
      virtual bool init(SparseOptimizer* optimizer, bool online = false) = 0;

      virtual bool buildStructure(bool zeroBlocks = false) = 0;
      virtual bool updateStructure(const std::vector<HyperGraph::Vertex*>& vset, const HyperGraph::EdgeSet& edges) = 0;
      virtual bool buildSystem() = 0;

      virtual bool solve() = 0;

      virtual bool computeMarginals(SparseBlockMatrix<MatrixXd>& spinv, const std::vector<std::pair<int, int> >& blockIndices) = 0;

      virtual bool setLambda(double lambda, bool backup = false) = 0;

      virtual void restoreDiagonal() = 0;

      double* x() { return _x;}
      const double* x() const { return _x;}
      double* b() { return _b;}
      const double* b() const { return _b;}

      size_t vectorSize() const { return _xSize;}

      SparseOptimizer* optimizer() const { return _optimizer;}
      void setOptimizer(SparseOptimizer* optimizer);

      bool levenberg() const { return _isLevenberg;}
      void setLevenberg(bool levenberg);

      virtual bool supportsSchur() {return false;}

      virtual bool schur()=0;
      virtual void setSchur(bool s)=0;

      size_t additionalVectorSpace() const { return _additionalVectorSpace;}
      void setAdditionalVectorSpace(size_t s);

      virtual void setWriteDebug(bool) = 0;
      virtual bool writeDebug() const = 0;

      virtual bool saveHessian(const std::string& /*fileName*/) const = 0;

    protected:
      SparseOptimizer* _optimizer;
      double* _x;
      double* _b;
      size_t _xSize, _maxXSize;
      bool _isLevenberg; 
      size_t _additionalVectorSpace;

      void resizeVector(size_t sx);

    private:
      // Disable the copy constructor and assignment operator
      Solver(const Solver&) { }
      Solver& operator= (const Solver&) { return *this; }
  };
} // end namespace

#endif