solver.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.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef G2O_SOLVER_H
#define G2O_SOLVER_H
 
#include <cstddef>
 
#include "g2o_core_api.h"
#include "hyper_graph.h"
#include "sparse_block_matrix.h"
 
namespace g2o {
 
class SparseOptimizer;
 
class G2O_CORE_API Solver {
 public:
  Solver();
  virtual ~Solver();
 
 public:
  virtual bool init(SparseOptimizer* optimizer, bool online = false) = 0;
 
  virtual bool buildStructure(bool zeroBlocks = false) = 0;
  virtual bool updateStructure(const std::vector<HyperGraph::Vertex*>& vset,
                               const HyperGraph::EdgeSet& edges) = 0;
  virtual bool buildSystem() = 0;
 
  virtual bool solve() = 0;
 
  virtual bool computeMarginals(
      SparseBlockMatrix<MatrixX>& spinv,
      const std::vector<std::pair<int, int> >& blockIndices) = 0;
 
  virtual bool setLambda(double lambda, bool backup = false) = 0;
 
  virtual void restoreDiagonal() = 0;
 
  double* x() { return _x; }
  const double* x() const { return _x; }
  double* b() { return _b; }
  const double* b() const { return _b; }
 
  size_t vectorSize() const { return _xSize; }
 
  SparseOptimizer* optimizer() const { return _optimizer; }
  void setOptimizer(SparseOptimizer* optimizer);
 
  bool levenberg() const { return _isLevenberg; }
  void setLevenberg(bool levenberg);
 
  virtual bool supportsSchur() { return false; }
 
  virtual bool schur() = 0;
  virtual void setSchur(bool s) = 0;
 
  size_t additionalVectorSpace() const { return _additionalVectorSpace; }
  void setAdditionalVectorSpace(size_t s);
 
  virtual void setWriteDebug(bool) = 0;
  virtual bool writeDebug() const = 0;
 
  virtual bool saveHessian(const std::string& /*fileName*/) const = 0;
 
 protected:
  SparseOptimizer* _optimizer;
  double* _x;
  double* _b;
  size_t _xSize, _maxXSize;
  bool _isLevenberg;  
  size_t _additionalVectorSpace;
 
  void resizeVector(size_t sx);
 
 private:
  // Disable the copy constructor and assignment operator
  Solver(const Solver&) {}
  Solver& operator=(const Solver&) { return *this; }
};
}  // namespace g2o
 
#endif