optimization_algorithm.h
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1 // g2o - General Graph Optimization
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26 
27 #ifndef G2O_OPTIMIZATION_ALGORITHM_H
28 #define G2O_OPTIMIZATION_ALGORITHM_H
29 
30 #include <vector>
31 #include <utility>
32 #include <iosfwd>
33 
34 #include "../stuff/property.h"
35 
36 #include "hyper_graph.h"
37 #include "sparse_block_matrix.h"
38 
39 namespace g2o {
40 
41  class SparseOptimizer;
42 
47  {
48  public:
49  enum SolverResult {Terminate=2, OK=1, Fail=-1};
51  virtual ~OptimizationAlgorithm();
52 
56  virtual bool init(bool online = false) = 0;
57 
63  virtual SolverResult solve(int iteration, bool online = false) = 0;
64 
70  virtual bool computeMarginals(SparseBlockMatrix<MatrixXd>& spinv, const std::vector<std::pair<int, int> >& blockIndices) = 0;
71 
75  virtual bool updateStructure(const std::vector<HyperGraph::Vertex*>& vset, const HyperGraph::EdgeSet& edges) = 0;
76 
80  virtual void printVerbose(std::ostream& os) const {(void) os;};
81 
82  public:
84  const SparseOptimizer* optimizer() const { return _optimizer;}
86 
91 
93  const PropertyMap& properties() const { return _properties;}
94 
98  bool updatePropertiesFromString(const std::string& propString);
99 
103  void printProperties(std::ostream& os) const;
104 
105  protected:
108 
109  private:
110  // Disable the copy constructor and assignment operator
113  };
114 
115 } // end namespace
116 
117 #endif
virtual void printVerbose(std::ostream &os) const
virtual SolverResult solve(int iteration, bool online=false)=0
const PropertyMap & properties() const
return the properties of the solver
virtual bool updateStructure(const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)=0
virtual bool init(bool online=false)=0
const SparseOptimizer * optimizer() const
return the optimizer operating on
PropertyMap _properties
the properties of your solver, use this to store the parameters of your solver
std::set< Edge * > EdgeSet
Definition: hyper_graph.h:90
virtual bool computeMarginals(SparseBlockMatrix< MatrixXd > &spinv, const std::vector< std::pair< int, int > > &blockIndices)=0
SparseOptimizer * _optimizer
the optimizer the solver is working on
bool updatePropertiesFromString(const std::string &propString)
void setOptimizer(SparseOptimizer *optimizer)
OptimizationAlgorithm(const OptimizationAlgorithm &)
OptimizationAlgorithm & operator=(const OptimizationAlgorithm &)
void printProperties(std::ostream &os) const
a collection of properties mapping from name to the property itself
Definition: property.h:75
Generic interface for a non-linear solver operating on a graph.
Sparse matrix which uses blocks.


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47