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

remove the printf

release/4.3a0
Kai Ni 2010-01-16 22:56:57 +00:00
parent 2174057578
commit 0e17310e23
1 changed files with 2 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
cpp/iterative-inl.h
View File

@ -22,17 +22,14 @@ namespace gtsam {
template<class S, class V, class E>
V conjugateGradients(const S& Ab, V x, bool verbose, double epsilon, double epsilon_abs,
size_t maxIterations, bool steepest = false) {
//GTSAM_PRINT(Ab);
if (maxIterations == 0) maxIterations = dim(x) * (steepest ? 10 : 1);
size_t reset = (size_t)(sqrt(dim(x))+0.5); // when to reset
// Start with g0 = A'*(A*x0-b), d0 = - g0
// i.e., first step is in direction of negative gradient
V g = Ab.gradient(x);
//print(g, "g");
V d = -g;
double dotg0 = dot(g, g), prev_dotg = dotg0;
//printf("dotg0:%g epsilon_abs:%g\n", dotg0, epsilon_abs);
if (dotg0 < epsilon_abs) return x;
double threshold = epsilon * epsilon * dotg0;
@ -45,16 +42,15 @@ namespace gtsam {
// calculate optimal step-size
E Ad = Ab * d;
//printf("dot(d, g):%g dot(Ad, Ad):%g\n", dot(d, g), dot(Ad, Ad));
double alpha = -dot(d, g) / dot(Ad, Ad);
//printf("alpha:%g\n", alpha);
// do step in new search direction
x = x + alpha * d;
if (k==maxIterations) break;
// update gradient (or re-calculate at reset time)
g = (k%reset==0) ? Ab.gradient(x) : g + alpha * (Ab ^ Ad);
// g = (k%reset==0) ? Ab.gradient(x) : g + alpha * (Ab ^ Ad);
g = g + alpha * (Ab ^ Ad);
// check for convergence
double dotg = dot(g, g);