// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
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#ifndef G2O_OPTIMIZATION_ALGORITHM_DOGLEG_H
#define G2O_OPTIMIZATION_ALGORITHM_DOGLEG_H

#include "optimization_algorithm_with_hessian.h"

namespace g2o {

  class BlockSolverBase;

  /**
   * \brief Implementation of Powell's Dogleg Algorithm
   */
  class  OptimizationAlgorithmDogleg : public OptimizationAlgorithmWithHessian
  {
    public:
      /** \brief type of the step to take */
      enum {
        STEP_UNDEFINED,
        STEP_SD, STEP_GN, STEP_DL
      };

    public:
      /**
       * construct the Dogleg algorithm, which will use the given Solver for solving the
       * linearized system.
       */
      explicit OptimizationAlgorithmDogleg(BlockSolverBase* solver);
      virtual ~OptimizationAlgorithmDogleg();

      virtual SolverResult solve(int iteration, bool online = false);

      virtual void printVerbose(std::ostream& os) const;

      //! return the type of the last step taken by the algorithm
      int lastStep() const { return _lastStep;}
      //! return the diameter of the trust region
      double trustRegion() const { return _delta;}

      //! convert the type into an integer
      static const char* stepType2Str(int stepType);

    protected:
      // parameters
      Property<int>* _maxTrialsAfterFailure;
      Property<double>* _userDeltaInit;
      // damping to enforce positive definite matrix
      Property<double>* _initialLambda;
      Property<double>* _lamdbaFactor;

      Eigen::VectorXd _hsd;         ///< steepest decent step
      Eigen::VectorXd _hdl;         ///< final dogleg step
      Eigen::VectorXd _auxVector;   ///< auxilary vector used to perform multiplications or other stuff

      double _currentLambda;        ///< the damping factor to force positive definite matrix
      double _delta;                ///< trust region
      int _lastStep;                ///< type of the step taken by the algorithm
      bool _wasPDInAllIterations;   ///< the matrix we solve was positive definite in all iterations -> if not apply damping
      int _lastNumTries;
  };

} // end namespace

#endif
