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27 class GaussianFactorGraph;
31 struct PreconditionerParameters;
44 void print(std::ostream &
os)
const override;
48 return *preconditioner_;
52 void print(
const std::string &
s)
const;
56 void setPreconditionerParams(
const std::shared_ptr<PreconditionerParameters> preconditioner);
94 const std::map<Key, Vector> &
lambda);
const std::vector< size_t > dimensions
PCGSolverParameters parameters_
Point3 optimize(const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey)
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
ofstream os("timeSchurFactors.csv")
int EIGEN_BLAS_FUNC() scal(int *n, RealScalar *palpha, RealScalar *px, int *incx)
void print(const Matrix &A, const string &s, ostream &stream)
Implementation of Conjugate Gradient solver for a linear system.
std::shared_ptr< Preconditioner > preconditioner_
const std::map< Key, Vector > & lambda_
std::shared_ptr< PCGSolver > shared_ptr
double dot(const V1 &a, const V2 &b)
const GaussianFactorGraph & gfg_
std::shared_ptr< PCGSolverParameters > shared_ptr
std::shared_ptr< PreconditionerParameters > preconditioner_
static enum @1096 ordering
GTSAM_EXPORT VectorValues optimize(const GaussianFactorGraph &gfg, const KeyInfo *=nullptr, const std::map< Key, Vector > *lambda=nullptr)
void axpy(double alpha, const Errors &x, Errors &y)
BLAS level 2 style AXPY, y := alpha*x + y
Array< int, Dynamic, 1 > v
ConjugateGradientParameters Base
VectorValues buildVectorValues(const Vector &v, const Ordering &ordering, const map< Key, size_t > &dimensions)
Create VectorValues from a Vector.
const Preconditioner & preconditioner_
const PreconditionerParameters & preconditioner() const
gtsam
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autogenerated on Tue Jun 25 2024 03:02:04