// 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:
//
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//   this list of conditions and the following disclaimer.
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#ifndef G2O_OPTIMIZATION_ALGORITHM_H
#define G2O_OPTIMIZATION_ALGORITHM_H

#include <iosfwd>
#include <utility>
#include <vector>

#include "g2o/stuff/property.h"
#include "g2o_core_api.h"
#include "hyper_graph.h"
#include "sparse_block_matrix.h"

namespace g2o {

class SparseOptimizer;

/**
 * \brief Generic interface for a non-linear solver operating on a graph
 */
class G2O_CORE_API OptimizationAlgorithm {
 public:
  enum G2O_CORE_API SolverResult { Terminate = 2, OK = 1, Fail = -1 };
  OptimizationAlgorithm();
  virtual ~OptimizationAlgorithm();

  /**
   * initialize the solver, called once before the first call to solve()
   */
  virtual bool init(bool online = false) = 0;

  /**
   * Solve one iteration. The SparseOptimizer running on-top will call this
   * for the given number of iterations.
   * @param iteration indicates the current iteration
   */
  virtual SolverResult solve(int iteration, bool online = false) = 0;

  /**
   * computes the block diagonal elements of the pattern specified in the input
   * and stores them in given SparseBlockMatrix.
   * If your solver does not support computing the marginals, return false.
   */
  virtual bool computeMarginals(
      SparseBlockMatrix<MatrixX>& spinv,
      const std::vector<std::pair<int, int> >& blockIndices) = 0;

  /**
   * update the structures for online processing
   */
  virtual bool updateStructure(const std::vector<HyperGraph::Vertex*>& vset,
                               const HyperGraph::EdgeSet& edges) = 0;

  /**
   * called by the optimizer if verbose. re-implement, if you want to print
   * something
   */
  virtual void printVerbose(std::ostream& os) const { (void)os; };

 public:
  //! return the optimizer operating on
  const SparseOptimizer* optimizer() const { return _optimizer; }
  SparseOptimizer* optimizer() { return _optimizer; }

  /**
   * specify on which optimizer the solver should work on
   */
  void setOptimizer(SparseOptimizer* optimizer);

  //! return the properties of the solver
  const PropertyMap& properties() const { return _properties; }

  /**
   * update the properties from a string, see PropertyMap::updateMapFromString()
   */
  bool updatePropertiesFromString(const std::string& propString);

  /**
   * print the properties to a stream in a human readable fashion
   */
  void printProperties(std::ostream& os) const;

 protected:
  SparseOptimizer* _optimizer;  ///< the optimizer the solver is working on
  PropertyMap _properties;      ///< the properties of your solver, use this to
                                ///< store the parameters of your solver

 private:
  // Disable the copy constructor and assignment operator
  OptimizationAlgorithm(const OptimizationAlgorithm&) {}
  OptimizationAlgorithm& operator=(const OptimizationAlgorithm&) {
    return *this;
  }
};

}  // namespace g2o

#endif
