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adapt old implementations to the latest function templates 

reorg partial elimination + pcg solvers
a new unit test for pcg solvers
use python.psutil to inspect peak memory usage
release/4.3a0
Yong-Dian Jian 2012-06-18 04:31:11 +00:00
parent 77cab0a248
commit 1edcc8a53b
1 changed files with 5 additions and 0 deletions
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5
gtsam/linear/IterativeSolver.h
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@ -11,6 +11,7 @@
#pragma once #pragma once
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/VectorValues.h> #include <gtsam/linear/VectorValues.h>
namespace gtsam { namespace gtsam {
@ -50,8 +51,12 @@ namespace gtsam {
class IterativeSolver { class IterativeSolver {
public: public:
typedef boost::shared_ptr<IterativeSolver> shared_ptr;
IterativeSolver(){} IterativeSolver(){}
virtual ~IterativeSolver() {} virtual ~IterativeSolver() {}
/* update interface to the nonlinear optimizer */
virtual void replaceFactors(const GaussianFactorGraph::shared_ptr &factorGraph, const double lambda) {}
virtual VectorValues optimize () = 0; virtual VectorValues optimize () = 0;
}; };