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rearrange GaussianFactorGraphSystem

release/4.3a0
Varun Agrawal 2024-10-15 06:54:00 -04:00
parent 91d637b092
commit 1b422d5c98
1 changed files with 8 additions and 8 deletions
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16
gtsam/linear/PCGSolver.h
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@ -91,16 +91,16 @@ public:
* System class needed for calling preconditionedConjugateGradient * System class needed for calling preconditionedConjugateGradient
*/ */
class GTSAM_EXPORT GaussianFactorGraphSystem { class GTSAM_EXPORT GaussianFactorGraphSystem {
public: GaussianFactorGraph gfg_;
Preconditioner preconditioner_;
KeyInfo keyInfo_;
std::map<Key, Vector> lambda_;
public:
GaussianFactorGraphSystem(const GaussianFactorGraph &gfg, GaussianFactorGraphSystem(const GaussianFactorGraph &gfg,
const Preconditioner &preconditioner, const KeyInfo &info, const Preconditioner &preconditioner,
const std::map<Key, Vector> &lambda); const KeyInfo &info,
const std::map<Key, Vector> &lambda);
const GaussianFactorGraph &gfg_;
const Preconditioner &preconditioner_;
const KeyInfo &keyInfo_;
const std::map<Key, Vector> &lambda_;
void residual(const Vector &x, Vector &r) const; void residual(const Vector &x, Vector &r) const;
void multiply(const Vector &x, Vector& y) const; void multiply(const Vector &x, Vector& y) const;