gtsam
linear
SubgraphSolver.h
Go to the documentation of this file.
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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#pragma once
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#include <
gtsam/linear/ConjugateGradientSolver.h
>
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#include <
gtsam/linear/SubgraphBuilder.h
>
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#include <map>
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#include <utility>
// pair
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namespace
gtsam
{
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// Forward declarations
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class
GaussianFactorGraph;
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class
GaussianBayesNet;
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class
SubgraphPreconditioner;
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struct
GTSAM_EXPORT
SubgraphSolverParameters
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:
public
ConjugateGradientParameters
{
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SubgraphBuilderParameters
builderParams
;
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explicit
SubgraphSolverParameters
(
const
SubgraphBuilderParameters
&
p
=
SubgraphBuilderParameters
())
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: builderParams(
p
) {}
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void
print
()
const
{
Base::print
(); }
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void
print
(std::ostream &
os
)
const override
{
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Base::print
(
os
);
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}
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};
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class
GTSAM_EXPORT
SubgraphSolver
:
public
IterativeSolver
{
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public
:
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typedef
SubgraphSolverParameters
Parameters
;
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protected
:
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Parameters
parameters_
;
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std::shared_ptr<SubgraphPreconditioner>
pc_
;
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public
:
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SubgraphSolver
(
const
GaussianFactorGraph
&
A
,
const
Parameters
&
parameters
,
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const
Ordering
&
ordering
);
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SubgraphSolver
(
const
GaussianFactorGraph
&Ab1,
const
GaussianFactorGraph
&Ab2,
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const
Parameters
&
parameters
,
const
Ordering
&
ordering
);
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SubgraphSolver
(
const
GaussianBayesNet
&Rc1,
const
GaussianFactorGraph
&Ab2,
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const
Parameters
&
parameters
);
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~SubgraphSolver
()
override
{}
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VectorValues
optimize
()
const
;
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VectorValues
optimize
(
const
GaussianFactorGraph
&gfg,
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const
KeyInfo
&keyInfo,
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const
std::map<Key, Vector> &
lambda
,
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const
VectorValues
&
initial
)
override
;
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std::pair<GaussianFactorGraph, GaussianFactorGraph> splitGraph(
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const
GaussianFactorGraph
&gfg);
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};
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}
// namespace gtsam
gtsam::SubgraphBuilderParameters
Definition:
SubgraphBuilder.h:102
Eigen::internal::print
EIGEN_STRONG_INLINE Packet4f print(const Packet4f &a)
Definition:
NEON/PacketMath.h:3115
gtsam::SubgraphSolverParameters::SubgraphSolverParameters
SubgraphSolverParameters(const SubgraphBuilderParameters &p=SubgraphBuilderParameters())
Definition:
SubgraphSolver.h:38
gtsam::optimize
Point3 optimize(const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey)
Definition:
triangulation.cpp:177
gtsam::SubgraphSolverParameters::builderParams
SubgraphBuilderParameters builderParams
Definition:
SubgraphSolver.h:37
gtsam::SubgraphSolver::Parameters
SubgraphSolverParameters Parameters
Definition:
SubgraphSolver.h:78
os
ofstream os("timeSchurFactors.csv")
gtsam::IterativeSolver
Definition:
IterativeSolver.h:87
gtsam::SubgraphSolver::pc_
std::shared_ptr< SubgraphPreconditioner > pc_
preconditioner object
Definition:
SubgraphSolver.h:82
gtsam::KeyInfo
Definition:
IterativeSolver.h:127
gtsam::SubgraphSolverParameters::print
void print() const
Definition:
SubgraphSolver.h:40
gtsam::GaussianFactorGraph
Definition:
GaussianFactorGraph.h:73
ConjugateGradientSolver.h
Implementation of Conjugate Gradient solver for a linear system.
A
Definition:
test_numpy_dtypes.cpp:298
gtsam::VectorValues
Definition:
VectorValues.h:74
parameters
static ConjugateGradientParameters parameters
Definition:
testIterative.cpp:33
lambda
static double lambda[]
Definition:
jv.c:524
ordering
static enum @1096 ordering
gtsam::SubgraphSolverParameters
Definition:
SubgraphSolver.h:35
gtsam
traits
Definition:
SFMdata.h:40
gtsam::ConjugateGradientParameters
Definition:
ConjugateGradientSolver.h:29
gtsam::SubgraphSolver::parameters_
Parameters parameters_
Definition:
SubgraphSolver.h:81
p
float * p
Definition:
Tutorial_Map_using.cpp:9
SubgraphBuilder.h
initial
Definition:
testScenarioRunner.cpp:148
gtsam::SubgraphSolver::~SubgraphSolver
~SubgraphSolver() override
Destructor.
Definition:
SubgraphSolver.h:112
gtsam::SubgraphSolver
Definition:
SubgraphSolver.h:76
gtsam::SubgraphSolverParameters::print
void print(std::ostream &os) const override
Definition:
SubgraphSolver.h:41
gtsam::Ordering
Definition:
inference/Ordering.h:33
gtsam::GaussianBayesNet
Definition:
GaussianBayesNet.h:35
gtsam
Author(s):
autogenerated on Sat Nov 16 2024 04:05:01