treeoptimizer2.hh

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/**********************************************************************
 *
 * This source code is part of the Tree-based Network Optimizer (TORO)
 *
 * TORO Copyright (c) 2007 Giorgio Grisetti, Cyrill Stachniss, and
 * Wolfram Burgard
 *
 * TORO is licences under the Common Creative License,
 * Attribution-NonCommercial-ShareAlike 3.0
 *
 * You are free:
 *   - to Share - to copy, distribute and transmit the work
 *   - to Remix - to adapt the work
 *
 * Under the following conditions:
 *
 *   - Attribution. You must attribute the work in the manner specified
 *     by the author or licensor (but not in any way that suggests that
 *     they endorse you or your use of the work).
 *  
 *   - Noncommercial. You may not use this work for commercial purposes.
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 *   - Share Alike. If you alter, transform, or build upon this work,
 *     you may distribute the resulting work only under the same or
 *     similar license to this one.
 *
 * Any of the above conditions can be waived if you get permission
 * from the copyright holder.  Nothing in this license impairs or
 * restricts the author's moral rights.
 *
 * TORO is distributed in the hope that it will be useful,
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 **********************************************************************/

#ifndef _TREEOPTIMIZER2_HH_
#define _TREEOPTIMIZER2_HH_

#include "posegraph2.hh"

struct TreeOptimizer2: public TreePoseGraph2{
  typedef std::vector<Pose> PoseVector;

  TreeOptimizer2();

  virtual ~TreeOptimizer2();

  void initializeTreeParameters();

  void initializeOptimization();

  void initializeOnlineOptimization();
  
  void iterate(TreePoseGraph2::EdgeSet* eset=0);

  double error() const;

protected:
  void computePreconditioner();

  void propagateErrors();

  void updatePoseChain(Vertex* v, Vertex* top);

  Pose getPose(Vertex*v, Vertex* top);

  double error(const Edge* e) const;

  int iteration;

  double gamma[3];

  PoseVector M;

};

#endif

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