I changed the name of SubgraphPCG to SubgraphSolver and put it in its own compilation unit

cpp/Makefile.am

@@ -115,7 +115,7 @@ testErrors_SOURCES              = testErrors.cpp
 testErrors_LDADD                = libgtsam.la
 
 # Iterative Methods
-headers += iterative-inl.h SubgraphPreconditioner-inl.h
+headers += iterative-inl.h SubgraphSolver.h SubgraphSolver-inl.h
 sources += iterative.cpp BayesNetPreconditioner.cpp SubgraphPreconditioner.cpp
 check_PROGRAMS += testIterative testBayesNetPreconditioner testSubgraphPreconditioner
 testIterative_SOURCES              = testIterative.cpp

cpp/Pose2SLAMOptimizer.cpp

@@ -8,7 +8,7 @@
 #include "Pose2SLAMOptimizer.h"
 #include "pose2SLAM.h"
 #include "dataset.h"
-#include "SubgraphPreconditioner-inl.h"
+#include "SubgraphSolver-inl.h"
 
 using namespace std;
 namespace gtsam {

cpp/Pose2SLAMOptimizer.h

@@ -12,7 +12,7 @@
 
 #include "pose2SLAM.h"
 #include "Ordering.h"
-#include "SubgraphPreconditioner.h"
+#include "SubgraphSolver.h"
 
 namespace gtsam {
 
@@ -31,7 +31,7 @@ namespace gtsam {
 		boost::shared_ptr<Pose2Config> theta_;
 
 		/** Non-linear solver */
-		typedef SubgraphPCG<Pose2Graph, Pose2Config> SPCG_Solver;
+		typedef SubgraphSolver<Pose2Graph, Pose2Config> SPCG_Solver;
 		SPCG_Solver solver_;
 
 		/** Linear Solver */

cpp/SubgraphPreconditioner.h

@@ -4,8 +4,7 @@
  * @author: Frank Dellaert
  */
 
-#ifndef SUBGRAPHPRECONDITIONER_H_
+#pragma once
-#define SUBGRAPHPRECONDITIONER_H_
 
 #include "GaussianFactorGraph.h"
 #include "GaussianBayesNet.h"
@@ -91,61 +90,4 @@ namespace gtsam {
 		void print(const std::string& s = "SubgraphPreconditioner") const;
 	};
 
-  /**
+} // namespace gtsam
-   * A nonlinear system solver using subgraph preconditioning conjugate gradient
-   * Concept NonLinearSolver<G,T,L> implements
-   *   linearize: G * T -> L
-   *   solve : L -> VectorConfig
-   */
-	template<class G, class T>
-	class SubgraphPCG {
-
-	private:
-		typedef typename T::Key Key;
-		typedef typename G::Constraint Constraint;
-		typedef typename G::Pose Pose;
-
-		// TODO not hardcode
-		static const size_t maxIterations_=100;
-		static const bool verbose_=false;
-		static const double epsilon_=1e-4, epsilon_abs_=1e-5;
-
-		/* the ordering derived from the spanning tree */
-		boost::shared_ptr<Ordering> ordering_;
-
-		/* the solution computed from the first subgraph */
-		boost::shared_ptr<T> theta_bar_;
-
-		G T_, C_;
-
-	public:
-		SubgraphPCG() {}
-
-		SubgraphPCG(const G& g, const T& theta0);
-
-		void initialize(const G& g, const T& theta0);
-
-		boost::shared_ptr<Ordering> ordering() const { return ordering_; }
-
-		boost::shared_ptr<T> theta_bar() const { return theta_bar_; }
-
-		/**
-		 * linearize the non-linear graph around the current config and build the subgraph preconditioner systme
-		 */
-		boost::shared_ptr<SubgraphPreconditioner> linearize(const G& g, const T& theta_bar) const;
-
-  	/**
-  	 * solve for the optimal displacement in the tangent space, and then solve
-  	 * the resulted linear system
-  	 */
-  	VectorConfig optimize(SubgraphPreconditioner& system) const;
-	};
-
-	template<class G, class T> const size_t SubgraphPCG<G,T>::maxIterations_;
-	template<class G, class T> const bool SubgraphPCG<G,T>::verbose_;
-	template<class G, class T> const double SubgraphPCG<G,T>::epsilon_;
-	template<class G, class T> const double	SubgraphPCG<G,T>::epsilon_abs_;
-
-} // nsamespace gtsam
-
-#endif /* SUBGRAPHPRECONDITIONER_H_ */

cpp/SubgraphSolver-inl.h

@@ -1,5 +1,5 @@
 /*
- * SubgraphPreconditioner-inl.h
+ * SubgraphSolver-inl.h
  *
  *   Created on: Jan 17, 2010
  *       Author: nikai
@@ -9,7 +9,7 @@
 #pragma once
 
 #include <boost/tuple/tuple.hpp>
-#include "SubgraphPreconditioner.h"
+#include "SubgraphSolver.h"
 
 #include "graph-inl.h"
 #include "iterative-inl.h"
@@ -21,13 +21,13 @@ namespace gtsam {
 
 	/* ************************************************************************* */
 	template<class G, class T>
-	SubgraphPCG<G, T>::SubgraphPCG(const G& g, const T& theta0) {
+	SubgraphSolver<G, T>::SubgraphSolver(const G& g, const T& theta0) {
 		initialize(g,theta0);
 	}
 
 	/* ************************************************************************* */
 	template<class G, class T>
-	void SubgraphPCG<G, T>::initialize(const G& g, const T& theta0) {
+	void SubgraphSolver<G, T>::initialize(const G& g, const T& theta0) {
 
 		// generate spanning tree
 		PredecessorMap<Key> tree = g.template findMinimumSpanningTree<Key, Constraint>();
@@ -51,7 +51,7 @@ namespace gtsam {
 
 	/* ************************************************************************* */
 	template<class G, class T>
-	boost::shared_ptr<SubgraphPreconditioner> SubgraphPCG<G, T>::linearize(const G& g, const T& theta_bar) const {
+	boost::shared_ptr<SubgraphPreconditioner> SubgraphSolver<G, T>::linearize(const G& g, const T& theta_bar) const {
 		SubgraphPreconditioner::sharedFG Ab1 = T_.linearize(theta_bar);
 		SubgraphPreconditioner::sharedFG Ab2 = C_.linearize(theta_bar);
 #ifdef TIMING
@@ -69,7 +69,7 @@ namespace gtsam {
 
 	/* ************************************************************************* */
 	template<class G, class T>
-	VectorConfig SubgraphPCG<G, T>::optimize(SubgraphPreconditioner& system) const {
+	VectorConfig SubgraphSolver<G, T>::optimize(SubgraphPreconditioner& system) const {
 		VectorConfig zeros = system.zero();
 
 		// Solve the subgraph PCG

cpp/SubgraphSolver.h

@@ -0,0 +1,71 @@
+/*
+ * SubgraphSolver.h
+ * Created on: Dec 31, 2009
+ * @author: Frank Dellaert
+ */
+
+#pragma once
+
+#include "GaussianFactorGraph.h"
+#include "GaussianBayesNet.h"
+#include "Ordering.h"
+#include "SubgraphPreconditioner.h"
+
+namespace gtsam {
+
+  /**
+   * A nonlinear system solver using subgraph preconditioning conjugate gradient
+   * Concept NonLinearSolver<G,T,L> implements
+   *   linearize: G * T -> L
+   *   solve : L -> VectorConfig
+   */
+	template<class G, class T>
+	class SubgraphSolver {
+
+	private:
+		typedef typename T::Key Key;
+		typedef typename G::Constraint Constraint;
+		typedef typename G::Pose Pose;
+
+		// TODO not hardcode
+		static const size_t maxIterations_=100;
+		static const bool verbose_=false;
+		static const double epsilon_=1e-4, epsilon_abs_=1e-5;
+
+		/* the ordering derived from the spanning tree */
+		boost::shared_ptr<Ordering> ordering_;
+
+		/* the solution computed from the first subgraph */
+		boost::shared_ptr<T> theta_bar_;
+
+		G T_, C_;
+
+	public:
+		SubgraphSolver() {}
+
+		SubgraphSolver(const G& g, const T& theta0);
+
+		void initialize(const G& g, const T& theta0);
+
+		boost::shared_ptr<Ordering> ordering() const { return ordering_; }
+
+		boost::shared_ptr<T> theta_bar() const { return theta_bar_; }
+
+		/**
+		 * linearize the non-linear graph around the current config and build the subgraph preconditioner systme
+		 */
+		boost::shared_ptr<SubgraphPreconditioner> linearize(const G& g, const T& theta_bar) const;
+
+  	/**
+  	 * solve for the optimal displacement in the tangent space, and then solve
+  	 * the resulted linear system
+  	 */
+  	VectorConfig optimize(SubgraphPreconditioner& system) const;
+	};
+
+	template<class G, class T> const size_t SubgraphSolver<G,T>::maxIterations_;
+	template<class G, class T> const bool SubgraphSolver<G,T>::verbose_;
+	template<class G, class T> const double SubgraphSolver<G,T>::epsilon_;
+	template<class G, class T> const double	SubgraphSolver<G,T>::epsilon_abs_;
+
+} // nsamespace gtsam

cpp/testNonlinearOptimizer.cpp

@@ -27,7 +27,7 @@ using namespace boost;
 // template definitions
 #include "NonlinearFactorGraph-inl.h"
 #include "NonlinearOptimizer-inl.h"
-#include "SubgraphPreconditioner-inl.h"
+#include "SubgraphSolver-inl.h"
 
 using namespace gtsam;
 
@@ -202,10 +202,10 @@ TEST( NonlinearOptimizer, Factorization )
 }
 
 /* ************************************************************************* */
-TEST( NonlinearOptimizer, SubgraphPCG )
+TEST( NonlinearOptimizer, SubgraphSolver )
 {
 	using namespace pose2SLAM;
-	typedef SubgraphPCG<Graph, Config> Solver;
+	typedef SubgraphSolver<Graph, Config> Solver;
 	typedef NonlinearOptimizer<Graph, Config, SubgraphPreconditioner, Solver> Optimizer;
 
 	// Create a graph
@@ -220,7 +220,7 @@ TEST( NonlinearOptimizer, SubgraphPCG )
 
 	// Create solver and optimizer
 	Optimizer::shared_solver solver
-		(new SubgraphPCG<Graph, Config> (*graph, *config));
+		(new SubgraphSolver<Graph, Config> (*graph, *config));
 	Optimizer optimizer(graph, config, solver);
 
 	// Optimize !!!!