text: // 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:
  //
  // * Redistributions of source code must retain the above copyright notice,
  //   this list of conditions and the following disclaimer.
  // * Redistributions in binary form must reproduce the above copyright
  //   notice, this list of conditions and the following disclaimer in the
  //   documentation and/or other materials provided with the distribution.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
  // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
  // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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  // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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  #ifndef G2O_GRAPH_OPTIMIZER_SPARSE_ONLINE_H
  #define G2O_GRAPH_OPTIMIZER_SPARSE_ONLINE_H
  
  #include "g2o_interactive_api.h"
  #include "g2o/core/sparse_optimizer.h"
  
  namespace g2o {
  
    class Solver;
  
    class G2O_INTERACTIVE_API SparseOptimizerOnline : public SparseOptimizer
    {
      public:
        explicit SparseOptimizerOnline(bool pcg=false);
        virtual ~SparseOptimizerOnline();
  
        int optimize(int iterations, bool online = false);
  
        virtual bool updateInitialization(HyperGraph::VertexSet& vset, HyperGraph::EdgeSet& eset);
  
        void update(double* update);
  
        virtual bool initSolver(int dimension, int batchEveryN);
  
      public:
        int slamDimension;
  
        HyperGraph::EdgeSet* newEdges;
  
        bool batchStep;
        bool vizWithGnuplot;
  
        virtual void gnuplotVisualization();
        
      protected:
        FILE* _gnuplot;
        bool _usePcg;
        Solver* _underlyingSolver;
    };
  
  } // end namespace
  
  #endif
  