batch_stats.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
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#ifndef G2O_BATCH_STATS_H_
#define G2O_BATCH_STATS_H_

#include <iostream>
#include <vector>

#include "g2o_core_api.h"

namespace g2o {

  struct G2O_CORE_API G2OBatchStatistics {
    G2OBatchStatistics();
    int iteration;                    
    int numVertices;                  
    int numEdges;                     
    double chi2;                      

    // nonlinear part
    double timeResiduals;             
    double timeLinearize;             
    double timeQuadraticForm;         
    int levenbergIterations;          
    // block_solver (constructs Ax=b, plus maybe schur)
    double timeSchurComplement;      

    // linear solver (computes Ax=b);
    double timeSymbolicDecomposition; 
    double timeNumericDecomposition;  
    double timeLinearSolution;        
    double timeLinearSolver;          
    int    iterationsLinearSolver;    
    double timeUpdate;                
    double timeIteration;             

    double timeMarginals;             

    // information about the Hessian matrix
    size_t hessianDimension;          
    size_t hessianPoseDimension;      
    size_t hessianLandmarkDimension;  
    size_t choleskyNNZ;               

    static G2OBatchStatistics* globalStats() {return _globalStats;}
    static void setGlobalStats(G2OBatchStatistics* b);
    protected:
    static G2OBatchStatistics* _globalStats;
  };

  G2O_CORE_API std::ostream& operator<<(std::ostream&, const G2OBatchStatistics&);

  typedef std::vector<G2OBatchStatistics> BatchStatisticsContainer;
}

#endif