Generic interface for a sparse solver operating on a graph which solves one iteration of the linearized objective function. More...
#include <solver.h>
Public Member Functions | |
| size_t | additionalVectorSpace () const |
| double * | b () |
| return b, the right hand side of the system More... | |
| const double * | b () const |
| virtual bool | buildStructure (bool zeroBlocks=false)=0 |
| virtual bool | buildSystem ()=0 |
| virtual bool | computeMarginals (SparseBlockMatrix< MatrixXd > &spinv, const std::vector< std::pair< int, int > > &blockIndices)=0 |
| virtual bool | init (SparseOptimizer *optimizer, bool online=false)=0 |
| bool | levenberg () const |
| the system is Levenberg-Marquardt More... | |
| SparseOptimizer * | optimizer () const |
| the optimizer (graph) on which the solver works More... | |
| virtual void | restoreDiagonal ()=0 |
| virtual bool | saveHessian (const std::string &) const =0 |
| write the hessian to disk using the specified file name More... | |
| virtual bool | schur ()=0 |
| should the solver perform the schur complement or not More... | |
| void | setAdditionalVectorSpace (size_t s) |
| virtual bool | setLambda (double lambda, bool backup=false)=0 |
| void | setLevenberg (bool levenberg) |
| void | setOptimizer (SparseOptimizer *optimizer) |
| virtual void | setSchur (bool s)=0 |
| virtual void | setWriteDebug (bool)=0 |
| virtual bool | solve ()=0 |
| Solver () | |
| virtual bool | supportsSchur () |
| virtual bool | updateStructure (const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)=0 |
| size_t | vectorSize () const |
| return the size of the solution vector (x) and b More... | |
| virtual bool | writeDebug () const =0 |
| double * | x () |
| return x, the solution vector More... | |
| const double * | x () const |
| virtual | ~Solver () |
Protected Member Functions | |
| void | resizeVector (size_t sx) |
Protected Attributes | |
| size_t | _additionalVectorSpace |
| double * | _b |
| bool | _isLevenberg |
| the system we gonna solve is a Levenberg-Marquardt system More... | |
| size_t | _maxXSize |
| SparseOptimizer * | _optimizer |
| double * | _x |
| size_t | _xSize |
Private Member Functions | |
| Solver & | operator= (const Solver &) |
| Solver (const Solver &) | |
Detailed Description
Generic interface for a sparse solver operating on a graph which solves one iteration of the linearized objective function.
Constructor & Destructor Documentation
| g2o::Solver::Solver | ( | ) |
Definition at line 34 of file solver.cpp.
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Definition at line 40 of file solver.cpp.
Member Function Documentation
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build the structure of the system
Implemented in g2o::BlockSolver< Traits >.
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build the current system
Implemented in g2o::BlockSolver< Traits >.
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computes the block diagonal elements of the pattern specified in the input and stores them in given SparseBlockMatrix
Implemented in g2o::BlockSolver< Traits >.
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initialize the solver, called once before the first iteration
Implemented in g2o::BlockSolver< Traits >.
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Definition at line 46 of file solver.cpp.
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restore a previosly made backup of the diagonal
Implemented in g2o::BlockSolver< Traits >.
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write the hessian to disk using the specified file name
Implemented in g2o::BlockSolver< Traits >.
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should the solver perform the schur complement or not
Implemented in g2o::BlockSolver< Traits >.
| void g2o::Solver::setAdditionalVectorSpace | ( | size_t | s | ) |
Definition at line 82 of file solver.cpp.
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update the system while performing Levenberg, i.e., modifying the diagonal components of A by doing += lambda along the main diagonal of the Matrix. Note that this function may be called with a positive and a negative lambda. The latter is used to undo a former modification. If backup is true, then the solver should store a backup of the diagonal, which can be restored by restoreDiagonal()
Implemented in g2o::BlockSolver< Traits >.
| void g2o::Solver::setLevenberg | ( | bool | levenberg | ) |
Definition at line 77 of file solver.cpp.
| void g2o::Solver::setOptimizer | ( | SparseOptimizer * | optimizer | ) |
Definition at line 72 of file solver.cpp.
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Implemented in g2o::BlockSolver< Traits >.
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write debug output of the Hessian if system is not positive definite
Implemented in g2o::BlockSolver< Traits >.
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solve Ax = b
Implemented in g2o::BlockSolver< Traits >.
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does this solver support the Schur complement for solving a system consisting of poses and landmarks. Re-implemement in a derived solver, if your solver supports it.
Reimplemented in g2o::BlockSolver< Traits >.
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update the structures for online processing
Implemented in g2o::BlockSolver< Traits >.
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Implemented in g2o::BlockSolver< Traits >.
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Member Data Documentation
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The documentation for this class was generated from the following files: