CGraphSlamOptimizer.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef CGRAPHSLAMOPTIMIZER_H
#define CGRAPHSLAMOPTIMIZER_H

#include <mrpt/obs/CActionCollection.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/graphs/CNetworkOfPoses.h>
#include <mrpt/utils/TParameters.h>
#include <mrpt/utils/CTimeLogger.h>

#include <mrpt/graphslam/misc/CWindowManager.h>
#include "CRegistrationDeciderOrOptimizer.h"

namespace mrpt
{
namespace graphslam
{
namespace optimizers
{
/**\brief Interface for implementing graphSLAM optimizer classes.
 *
 * Class should provide a generic interface from which real optimizers should
 * inherit so that they abide to the necessary method calls used in the
 * CGraphSlamEngine class. For an example of inheriting from this class see
 * CLevMarqGSO.
 *
 * \note As a naming convention, all the implemented graphslam optimizer classes
 * are suffixed with the GSO acronym.
 *
 * \ingroup mrpt_graphslam_grp
 */
template <class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CGraphSlamOptimizer
        : public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_t>
{
   public:
        /**\brief Handy typedefs */
        /**\{*/
        typedef typename GRAPH_t::constraint_t
                constraint_t;  // type of underlying constraints
        typedef typename GRAPH_t::constraint_t::type_value
                pose_t;  // type of underlying poses (2D/3D)
        /**\}*/

        CGraphSlamOptimizer() {}
        ~CGraphSlamOptimizer() {}
        /**\brief Generic method for fetching the incremental action/observation
         * readings from the calling function.
         *
         * Implementations of this interface should use (part of) the specified
         * parameters and call the optimizeGraph function if the decision is to
         * optimize the provided graph
         *
         * \return True if the optimization procedure was executed.
         */
        virtual bool updateState(
                mrpt::obs::CActionCollection::Ptr action,
                mrpt::obs::CSensoryFrame::Ptr observations,
                mrpt::obs::CObservation::Ptr observation) = 0;

        /**\brief Used by the caller to query for possible full graph optimization
         * on the latest optimizer run
         */
        virtual bool justFullyOptimizedGraph() const { return false; }
   protected:
        /**\brief method called for optimizing the underlying graph.
         */
        virtual void optimizeGraph() = 0;
};
}
}
}  // end of namespaces

#endif /* end of include guard: CGRAPHSLAMOPTIMIZER_H */