g2o
optimization_algorithm_property.h
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26 
27 #ifndef G2O_OPTIMIZATION_ALGORITHM_PROPERTY_H
28 #define G2O_OPTIMIZATION_ALGORITHM_PROPERTY_H
29 
30 #include <string>
31 
32 #include "g2o_core_api.h"
33 
34 namespace g2o {
35 
40 {
41  std::string name;
42  std::string desc;
43  std::string type;
45  int poseDim;
48  name(), desc(), type(), requiresMarginalize(false), poseDim(-1), landmarkDim(-1)
49  {
50  }
51  OptimizationAlgorithmProperty(const std::string& name_, const std::string& desc_, const std::string& type_, bool requiresMarginalize_, int poseDim_, int landmarkDim_) :
52  name(name_), desc(desc_), type(type_), requiresMarginalize(requiresMarginalize_), poseDim(poseDim_), landmarkDim(landmarkDim_)
53  {
54  }
55 };
56 
57 } // end namespace
58 
59 #endif
std::string name
name of the solver, e.g., var
describe the properties of a solver
int landmarkDim
dimension of the landmar vertices (-1 if variable)
OptimizationAlgorithmProperty(const std::string &name_, const std::string &desc_, const std::string &type_, bool requiresMarginalize_, int poseDim_, int landmarkDim_)
bool requiresMarginalize
whether the solver requires marginalization of landmarks
std::string desc
short description of the solver
#define G2O_CORE_API
Definition: g2o_core_api.h:29
int poseDim
dimension of the pose vertices (-1 if variable)
std::string type
type of solver, e.g., "CSparse Cholesky", "PCG"