edge_labeler.h

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#ifndef G2O_EDGE_LABELER_
#define G2O_EDGE_LABELER_

#include "g2o/core/sparse_optimizer.h"
#include <Eigen/Core>

#include "g2o_hierarchical_api.h"

namespace g2o {
struct G2O_HIERARCHICAL_API EdgeLabeler{
  EdgeLabeler(SparseOptimizer* optimizer);

  int labelEdges(std::set<OptimizableGraph::Edge*>& edges);

protected:
  void augmentSparsePattern(std::set<std::pair<int, int> >& pattern, OptimizableGraph::Edge* e);

  bool computePartialInverse(SparseBlockMatrix<Eigen::MatrixXd>& spinv, const std::set<std::pair<int,int> >& pattern);

  bool labelEdge( const SparseBlockMatrix<Eigen::MatrixXd>& spinv, OptimizableGraph::Edge* e);
   SparseOptimizer* _optimizer;
};

} // end namespace
#endif