abstract_slam_interface.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
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#ifndef ABSTRACT_SLAM_INTERFACE_H
#define ABSTRACT_SLAM_INTERFACE_H

#include <vector>
#include <string>

namespace SlamParser {
  
  class AbstractSlamInterface {
    public:
      virtual bool addNode(const std::string& tag, int id, int dimension, const std::vector<double>& values) = 0;

      virtual bool addEdge(const std::string& tag, int id, int dimension, int v1, int v2, const std::vector<double>& measurement, const std::vector<double>& information) = 0;

      virtual bool fixNode(const std::vector<int>& nodes) = 0;

      virtual bool queryState(const std::vector<int>& nodes) = 0;

      virtual bool solveState() = 0;
  };

}

#endif