solver_slam2d_linear.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
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#ifndef G2O_SOLVER_SLAM2D_LINEAR
#define G2O_SOLVER_SLAM2D_LINEAR

#include "g2o/core/optimization_algorithm_gauss_newton.h"
#include "g2o_slam2d_linear_api.h"

namespace g2o {

  class SparseOptimizer;
  class Solver;

  class G2O_SLAM2D_LINEAR_API SolverSLAM2DLinear : public OptimizationAlgorithmGaussNewton
  {
    public:
      explicit SolverSLAM2DLinear(Solver* solver);
      virtual ~SolverSLAM2DLinear();

      virtual OptimizationAlgorithm::SolverResult solve(int iteration, bool online = false);

    protected:
      bool solveOrientation();
  };

} // end namespace

#endif