OptimizerGTSAM.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
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    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#ifndef OPTIMIZERGTSAM_H_
#define OPTIMIZERGTSAM_H_

#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines

#include <rtabmap/core/Optimizer.h>

namespace rtabmap {

class RTABMAP_EXP OptimizerGTSAM : public Optimizer
{
public:
        static bool available();

public:
        OptimizerGTSAM(
                        int iterations         = Parameters::defaultOptimizerIterations(),
                        bool slam2d            = Parameters::defaultOptimizerSlam2D(),
                        bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
                        double epsilon         = Parameters::defaultOptimizerEpsilon(),
                        bool robust            = Parameters::defaultOptimizerRobust()) :
                Optimizer(iterations, slam2d, covarianceIgnored, epsilon, robust) {}

        OptimizerGTSAM(const ParametersMap & parameters) :
                Optimizer(parameters) {}
        virtual ~OptimizerGTSAM() {}

        virtual Type type() const {return kTypeGTSAM;}

        virtual std::map<int, Transform> optimize(
                        int rootId,
                        const std::map<int, Transform> & poses,
                        const std::multimap<int, Link> & edgeConstraints,
                        std::list<std::map<int, Transform> > * intermediateGraphes = 0,
                        double * finalError = 0,
                        int * iterationsDone = 0);
};

} /* namespace rtabmap */
#endif /* OPTIMIZERGTSAM_H_ */