abstract_slam_interface.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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#ifndef ABSTRACT_SLAM_INTERFACE_H
#define ABSTRACT_SLAM_INTERFACE_H
 
#include <string>
#include <vector>
 
namespace SlamParser {

class AbstractSlamInterface {
 public:
  virtual bool addNode(const std::string& tag, int id, int dimension,
                       const std::vector<double>& values) = 0;

  virtual bool addEdge(const std::string& tag, int id, int dimension, int v1,
                       int v2, const std::vector<double>& measurement,
                       const std::vector<double>& information) = 0;

  virtual bool fixNode(const std::vector<int>& nodes) = 0;

  virtual bool queryState(const std::vector<int>& nodes) = 0;

  virtual bool solveState() = 0;
};
 
}  // namespace SlamParser
 
#endif