OptimizationInterface.h

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#pragma once

#include <Eigen/Dense>

#include "SparseSystem.h"
#include "Node.h"


namespace isam {

class OptimizationInterface {

protected:

  SparseSystem _R;

public:
  virtual SparseSystem jacobian() = 0;
  virtual void apply_exmap(const Eigen::VectorXd& delta) = 0;
  virtual void self_exmap(const Eigen::VectorXd& delta) = 0;
  virtual void estimate_to_linpoint() = 0;
  virtual void linpoint_to_estimate() = 0;
  virtual void swap_estimates() = 0;
  virtual Eigen::VectorXd weighted_errors(Selector s = ESTIMATE) = 0;

  OptimizationInterface(): _R(1,1) {}

  virtual ~OptimizationInterface() {}

  friend class Optimizer;
};

}