batch_optimizer.h

#ifndef CALICO_BATCH_OPTIMIZER_H_
#define CALICO_BATCH_OPTIMIZER_H_
 
#include <memory>
 
#include "calico/sensors/sensor_base.h"
#include "calico/trajectory.h"
#include "calico/world_model.h"
#include "ceres/solver.h"
#include "absl/status/statusor.h"
 
 
namespace calico {
 
ceres::Solver::Options DefaultSolverOptions();
 
class BatchOptimizer {
 public:
 
  ~BatchOptimizer();
 
  void AddSensor(sensors::Sensor* sensor, bool take_ownership = true);
 
  void AddWorldModel(WorldModel* world_model, bool take_ownership = true);
 
  void AddTrajectory(Trajectory* trajectory_world_sensorrig,
                     bool take_ownership = true);
 
  absl::StatusOr<ceres::Solver::Summary> Optimize(
      const ceres::Solver::Options& options = DefaultSolverOptions());
 
 private:
  bool own_trajectory_world_body_;
  bool own_world_model_;
  std::vector<bool> own_sensors_;
  std::vector<std::unique_ptr<sensors::Sensor>> sensors_;
  std::unique_ptr<WorldModel> world_model_;
  std::unique_ptr<Trajectory> trajectory_world_body_;
};
 
} // namespace calico
 
#endif // CALICO_BATCH_OPTIMIZER_H_