graph_optimizer_sparse_online.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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// 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
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#ifndef G2O_GRAPH_OPTIMIZER_SPARSE_ONLINE_H
#define G2O_GRAPH_OPTIMIZER_SPARSE_ONLINE_H

#include "g2o_interactive_api.h"
#include "g2o/core/sparse_optimizer.h"

namespace g2o {

  class Solver;

  class G2O_INTERACTIVE_API SparseOptimizerOnline : public SparseOptimizer
  {
    public:
      explicit SparseOptimizerOnline(bool pcg=false);
      virtual ~SparseOptimizerOnline();

      int optimize(int iterations, bool online = false);

      virtual bool updateInitialization(HyperGraph::VertexSet& vset, HyperGraph::EdgeSet& eset);

      void update(double* update);

      virtual bool initSolver(int dimension, int batchEveryN);

    public:
      int slamDimension;

      HyperGraph::EdgeSet* newEdges;

      bool batchStep;
      bool vizWithGnuplot;

      virtual void gnuplotVisualization();
      
    protected:
      FILE* _gnuplot;
      bool _usePcg;
      Solver* _underlyingSolver;
  };

} // end namespace

#endif