diff --git a/include/base/ceres_wrapper/solver_manager.h b/include/base/ceres_wrapper/solver_manager.h deleted file mode 100644 index 1bdf40a64ad2320fcc597c39f65a30a1e931e8b0..0000000000000000000000000000000000000000 --- a/include/base/ceres_wrapper/solver_manager.h +++ /dev/null @@ -1,64 +0,0 @@ -#ifndef SOLVER_MANAGER_H_ -#define SOLVER_MANAGER_H_ - -//wolf includes -#include "base/common/wolf.h" -#include "base/state_block/state_block.h" -#include "base/factor/factor_base.h" - -namespace wolf { - -/** \brief Enumeration of covariance blocks to be computed - * - * Enumeration of covariance blocks to be computed - * - */ -typedef enum -{ - ALL, ///< All blocks and all cross-covariances - ALL_MARGINALS, ///< All marginals - ROBOT_LANDMARKS ///< marginals of landmarks and current robot pose plus cross covariances of current robot and all landmarks -} CovarianceBlocksToBeComputed; - -WOLF_PTR_TYPEDEFS(SolverManager); - -/** \brief Solver manager for WOLF - * - */ - -class SolverManager -{ - protected: - ProblemPtr wolf_problem_; - - public: - SolverManager(ProblemPtr _wolf_problem); - - virtual ~SolverManager(); - - virtual std::string solve(const unsigned int& _report_level) = 0; - - virtual void computeCovariances(CovarianceBlocksToBeComputed _blocks = ROBOT_LANDMARKS) = 0; - - virtual void computeCovariances(const StateBlockPtrList& st_list) = 0; - - virtual void update(); - - virtual ProblemPtr getProblem(); - - private: - - virtual void addFactor(FactorBasePtr _fac_ptr) = 0; - - virtual void removeFactor(FactorBasePtr _fac_ptr) = 0; - - virtual void addStateBlock(StateBlockPtr _st_ptr) = 0; - - virtual void removeStateBlock(StateBlockPtr _st_ptr) = 0; - - virtual void updateStateBlockStatus(StateBlockPtr _st_ptr) = 0; -}; - -} // namespace wolf - -#endif