12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

renamed sparse to sparseJacobian_

release/4.3a0
Frank Dellaert 2011-10-30 20:38:08 +00:00
parent 0a101eb50f
commit 03280f2446
4 changed files with 10 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
examples/matlab/PlanarSLAMExample_easy.m
View File

@ -74,12 +74,14 @@ initialEstimate.print('initial estimate');
result = graph.optimize_(initialEstimate); result = graph.optimize_(initialEstimate);
result.print('final result'); result.print('final result');
%% Print out the corresponding dense matrix %% Get the corresponding dense matrix
ord = graph.orderingCOLAMD(result); ord = graph.orderingCOLAMD(result);
gfg = graph.linearize(result,ord); gfg = graph.linearize(result,ord);
denseAb = gfg.denseJacobian denseAb = gfg.denseJacobian;
%% Get sparse matrix %% Get sparse matrix A and RHS b
IJS = gfg.sparse(); IJS = gfg.sparseJacobian_();
Ab=sparse(IJS(1,:),IJS(2,:),IJS(3,:)); Ab=sparse(IJS(1,:),IJS(2,:),IJS(3,:));
spy(Ab(:,1:end-1)); A = Ab(:,1:end-1);
b = full(Ab(:,end));
spy(A);

2
gtsam.h
View File

@ -110,7 +110,7 @@ class GaussianFactorGraph {
void combine(const GaussianFactorGraph& lfg); void combine(const GaussianFactorGraph& lfg);
Matrix denseJacobian() const; Matrix denseJacobian() const;
Matrix denseHessian() const; Matrix denseHessian() const;
Matrix sparse() const; Matrix sparseJacobian_() const;
}; };
class Landmark2 { class Landmark2 {

2
gtsam/linear/GaussianFactorGraph.cpp
View File

@ -141,7 +141,7 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
Matrix GaussianFactorGraph::sparse() const { Matrix GaussianFactorGraph::sparseJacobian_() const {
// call sparseJacobian // call sparseJacobian
typedef boost::tuple<size_t, size_t, double> triplet; typedef boost::tuple<size_t, size_t, double> triplet;

2
gtsam/linear/GaussianFactorGraph.h
View File

@ -160,7 +160,7 @@ namespace gtsam {
* such that S(i(k),j(k)) = s(k), which can be given to MATLAB's sparse. * such that S(i(k),j(k)) = s(k), which can be given to MATLAB's sparse.
* The standard deviations are baked into A and b * The standard deviations are baked into A and b
*/ */
Matrix sparse() const; Matrix sparseJacobian_() const;
/** /**
* Return a dense \f$ m \times n \f$ Jacobian matrix, augmented with b * Return a dense \f$ m \times n \f$ Jacobian matrix, augmented with b