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Comments w Yong-Dian

release/4.3a0
dellaert 2014-06-04 14:57:22 -04:00
parent bcbc7652a2
commit 21490eadd6
1 changed files with 10 additions and 0 deletions
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10
gtsam/nonlinear/NonlinearOptimizer.cpp
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@ -96,16 +96,24 @@ const Values& NonlinearOptimizer::optimizeSafely() {
/* ************************************************************************* */ /* ************************************************************************* */
VectorValues NonlinearOptimizer::solve(const GaussianFactorGraph &gfg, VectorValues NonlinearOptimizer::solve(const GaussianFactorGraph &gfg,
const Values& initial, const NonlinearOptimizerParams& params) const { const Values& initial, const NonlinearOptimizerParams& params) const {
// solution of linear solver is an update to the linearization point
VectorValues delta; VectorValues delta;
// Check which solver we are using
if (params.isMultifrontal()) { if (params.isMultifrontal()) {
// Multifrontal QR or Cholesky (decided by params.getEliminationFunction())
delta = gfg.optimize(*params.ordering, params.getEliminationFunction()); delta = gfg.optimize(*params.ordering, params.getEliminationFunction());
} else if (params.isSequential()) { } else if (params.isSequential()) {
// Sequential QR or Cholesky (decided by params.getEliminationFunction())
delta = gfg.eliminateSequential(*params.ordering, delta = gfg.eliminateSequential(*params.ordering,
params.getEliminationFunction())->optimize(); params.getEliminationFunction())->optimize();
} else if (params.isCG()) { } else if (params.isCG()) {
// Conjugate Gradient -> needs params.iterativeParams
if (!params.iterativeParams) if (!params.iterativeParams)
throw std::runtime_error( throw std::runtime_error(
"NonlinearOptimizer::solve: cg parameter has to be assigned ..."); "NonlinearOptimizer::solve: cg parameter has to be assigned ...");
// the type of params.iterativeParams decides the type of CG solver
if (boost::dynamic_pointer_cast<SubgraphSolverParameters>( if (boost::dynamic_pointer_cast<SubgraphSolverParameters>(
params.iterativeParams)) { params.iterativeParams)) {
SubgraphSolver solver(gfg, SubgraphSolver solver(gfg,
@ -120,6 +128,8 @@ VectorValues NonlinearOptimizer::solve(const GaussianFactorGraph &gfg,
throw std::runtime_error( throw std::runtime_error(
"NonlinearOptimizer::solve: Optimization parameter is invalid"); "NonlinearOptimizer::solve: Optimization parameter is invalid");
} }
// return update
return delta; return delta;
} }