// 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.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_OPTIMIZATION_ALGORITHM_PROPERTY_H
#define G2O_OPTIMIZATION_ALGORITHM_PROPERTY_H

#include <string>

#include "g2o_core_api.h"

namespace g2o {

/**
 * \brief describe the properties of a solver
 */
struct G2O_CORE_API OptimizationAlgorithmProperty {
  std::string name;  ///< name of the solver, e.g., var
  std::string desc;  ///< short description of the solver
  std::string type;  ///< type of solver, e.g., "CSparse Cholesky", "PCG"
  bool requiresMarginalize;  ///< whether the solver requires marginalization of
                             ///< landmarks
  int poseDim;      ///< dimension of the pose vertices (-1 if variable)
  int landmarkDim;  ///< dimension of the landmark vertices (-1 if variable)
  OptimizationAlgorithmProperty()
      : name(),
        desc(),
        type(),
        requiresMarginalize(false),
        poseDim(-1),
        landmarkDim(-1) {}
  OptimizationAlgorithmProperty(const std::string& name_,
                                const std::string& desc_,
                                const std::string& type_,
                                bool requiresMarginalize_, int poseDim_,
                                int landmarkDim_)
      : name(name_),
        desc(desc_),
        type(type_),
        requiresMarginalize(requiresMarginalize_),
        poseDim(poseDim_),
        landmarkDim(landmarkDim_) {}
};

}  // namespace g2o

#endif
