sparse_optimizer_terminate_action.h

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#ifndef SPARSE_OPTIMIZER_TERMINATE_ACTION_H
#define SPARSE_OPTIMIZER_TERMINATE_ACTION_H

#include "g2o_core_api.h"
#include "hyper_graph_action.h"

namespace g2o {

  class SparseOptimizer;

  class G2O_CORE_API SparseOptimizerTerminateAction : public HyperGraphAction
  {
    public:
      SparseOptimizerTerminateAction();
      virtual HyperGraphAction* operator()(const HyperGraph* graph, Parameters* parameters = 0);

      double gainThreshold() const { return _gainThreshold;}
      void setGainThreshold(double gainThreshold);

      int maxIterations() const { return _maxIterations;}
      void setMaxIterations(int maxit);

    protected:
      double _gainThreshold;
      double _lastChi;
      bool _auxTerminateFlag;
      int _maxIterations;

      void setOptimizerStopFlag(const SparseOptimizer* optimizer, bool stop);
  };

} // end namespace

#endif