Program Listing for File optimization_data.hpp

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/*
Copyright (c) 2023, University of Luxembourg
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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*/

#ifndef OPTIMIZATION_DATA_H
#define OPTIMIZATION_DATA_H

#include <iosfwd>
#include <sstream>
#include <string>

#include "g2o/core/optimizable_graph.h"

namespace s_graphs {
class OptimizationData : public g2o::HyperGraph::Data {
 public:
  OptimizationData() {}
  ~OptimizationData() {}

  bool read(std::istream& is) {
    std::cout << "read not implemented" << std::endl;
    return false;
  }

  bool write(std::ostream& os) const {
    std::cout << "write not implemented" << std::endl;
    return false;
  }

  void set_edge_info(bool value) { artificial_edge = value; }

  void get_edge_info(bool& value) { value = artificial_edge; }

  void get_rep_node_info(bool& value) { value = rep_node; }

  void set_rep_node_info(bool value) {
    rep_node = value;
    if (rep_node) marginalized = false;
  }

  void get_loop_closure_info(bool& value) { value = loop_closure; }

  void set_loop_closure_info(bool value) {
    loop_closure = value;
    if (loop_closure) marginalized = false;
  }

  void get_marginalized_info(bool& value) { value = marginalized; }

  void set_marginalized_info(bool value) {
    if (loop_closure) {
      marginalized = false;
    } else {
      marginalized = value;
    }
  }

  void set_anchor_node_info(bool value) { anchor_node = value; }

  void get_anchor_node_info(bool& value) { value = anchor_node; }

 private:
  bool marginalized = false;
  bool loop_closure = false;
  bool anchor_node = false;
  bool rep_node = false;
  bool artificial_edge = false;
};
}  // namespace s_graphs
#endif  // OPTIMIZATION_DATA_HPP