Solver.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mp2p_icp/OptimalTF_Result.h>
#include <mp2p_icp/Pairings.h>
#include <mp2p_icp/WeightParameters.h>
#include <mrpt/containers/yaml.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/rtti/CObject.h>
#include <mrpt/system/COutputLogger.h>

#include <optional>

namespace mp2p_icp
{
struct SolverContext
{
    SolverContext() = default;

    std::optional<uint32_t>             icpIteration;
    std::optional<mrpt::poses::CPose3D> guessRelativePose;
};

class Solver : public mrpt::system::COutputLogger, public mrpt::rtti::CObject
{
    DEFINE_VIRTUAL_MRPT_OBJECT(Solver)

   public:
    virtual void initialize(const mrpt::containers::yaml& params);

    virtual bool optimal_pose(
        const Pairings& pairings, OptimalTF_Result& out,
        const SolverContext& sc) const;

    uint32_t runFromIteration = 0;
    uint32_t runUpToIteration = 0;  

   protected:
    virtual bool impl_optimal_pose(
        const Pairings& pairings, OptimalTF_Result& out,
        const SolverContext& sc) const = 0;
};

}  // namespace mp2p_icp