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

#include "g2o_core_api.h"
#include "hyper_graph_action.h"

namespace g2o {

  class SparseOptimizer;

  /**
   * \brief stop iterating based on the gain which is (oldChi - currentChi) / currentChi.
   *
   * stop iterating based on the gain which is (oldChi - currentChi) / currentChi.
   * If the gain is larger than zero and below the threshold, then the optimizer is stopped.
   * Typically usage of this action includes adding it as a postIteration action, by calling
   * addPostIterationAction on a sparse optimizer.
   */
  class G2O_CORE_API SparseOptimizerTerminateAction : public HyperGraphAction
  {
    public:
      SparseOptimizerTerminateAction();
      virtual HyperGraphAction* operator()(const HyperGraph* graph, Parameters* parameters = 0);

      number_t gainThreshold() const { return _gainThreshold;}
      void setGainThreshold(number_t gainThreshold);

      int maxIterations() const { return _maxIterations;}
      void setMaxIterations(int maxit);

    protected:
      number_t _gainThreshold;
      number_t _lastChi;
      bool _auxTerminateFlag;
      int _maxIterations;

      void setOptimizerStopFlag(const SparseOptimizer* optimizer, bool stop);
  };

} // end namespace

#endif
