solver.h

Go to the documentation of this file.

// 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 SOLVER_H
#define SOLVER_H

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

namespace g2o {


  struct SparseOptimizer;

  class Solver
  {
    public:
      explicit Solver(SparseOptimizer* optimizer);
      virtual ~Solver();

    public:
      virtual bool init(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() = 0;

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

      virtual bool setLambda(double lambda) = 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);

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

      void resizeVector(size_t sx);
  };

} // end namespace

#endif