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.
//
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#ifndef G2O_OPTIMIZATION_ALGORITHM_H
#define G2O_OPTIMIZATION_ALGORITHM_H

#include <vector>
#include <utility>
#include <iosfwd>

#include "g2o/stuff/property.h"

#include "hyper_graph.h"
#include "sparse_block_matrix.h"
#include "g2o_core_api.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<MatrixXD>& 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; }
  };

} // end namespace

#endif