optimization_algorithm.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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#ifndef G2O_OPTIMIZATION_ALGORITHM_H
#define G2O_OPTIMIZATION_ALGORITHM_H
 
#include <iosfwd>
#include <utility>
#include <vector>
 
#include "g2o/stuff/property.h"
#include "g2o_core_api.h"
#include "hyper_graph.h"
#include "sparse_block_matrix.h"
 
namespace g2o {
 
class SparseOptimizer;

class G2O_CORE_API OptimizationAlgorithm {
 public:
  enum G2O_CORE_API SolverResult { Terminate = 2, OK = 1, Fail = -1 };
  OptimizationAlgorithm();
  virtual ~OptimizationAlgorithm();

  virtual bool init(bool online = false) = 0;

  virtual SolverResult solve(int iteration, bool online = false) = 0;

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

  virtual bool updateStructure(const std::vector<HyperGraph::Vertex*>& vset,
                               const HyperGraph::EdgeSet& edges) = 0;

  virtual void printVerbose(std::ostream& os) const { (void)os; };
 
 public:
  const SparseOptimizer* optimizer() const { return _optimizer; }
  SparseOptimizer* optimizer() { return _optimizer; }

  void setOptimizer(SparseOptimizer* optimizer);

  const PropertyMap& properties() const { return _properties; }

  bool updatePropertiesFromString(const std::string& propString);

  void printProperties(std::ostream& os) const;
 
 protected:
  SparseOptimizer* _optimizer;  
  PropertyMap _properties;      
 
 private:
  // Disable the copy constructor and assignment operator
  OptimizationAlgorithm(const OptimizationAlgorithm&) {}
  OptimizationAlgorithm& operator=(const OptimizationAlgorithm&) {
    return *this;
  }
};
 
}  // namespace g2o
 
#endif