diff --git a/gtsam/linear/ConjugateGradientSolver.h b/gtsam/linear/ConjugateGradientSolver.h index 3a42b8842..cf1d31d85 100644 --- a/gtsam/linear/ConjugateGradientSolver.h +++ b/gtsam/linear/ConjugateGradientSolver.h @@ -32,24 +32,14 @@ public: double epsilon_rel_; ///< threshold for relative error decrease double epsilon_abs_; ///< threshold for absolute error decrease - /* Matrix Operation Kernel */ - enum BLASKernel { - GTSAM = 0, ///< Jacobian Factor Graph of GTSAM - SBM, ///< Sparse Block Matrix - SBM_MT ///< Sparse Block Matrix Multithreaded - } blas_kernel_; - ConjugateGradientParameters() - : minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3), blas_kernel_(GTSAM) {} + : minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3){} - ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, - double epsilon_rel, double epsilon_abs, BLASKernel blas = GTSAM) - : minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), - epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs), blas_kernel_(blas) {} + ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, double epsilon_rel, double epsilon_abs) + : minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs){} ConjugateGradientParameters(const ConjugateGradientParameters &p) - : Base(p), minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), - epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_), blas_kernel_(p.blas_kernel_) {} + : Base(p), minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_) {} /* general interface */ inline size_t minIterations() const { return minIterations_; } @@ -58,14 +48,11 @@ public: inline double epsilon() const { return epsilon_rel_; } inline double epsilon_rel() const { return epsilon_rel_; } inline double epsilon_abs() const { return epsilon_abs_; } - inline BLASKernel blas_kernel() const { return blas_kernel_; } void print() const { - const std::string blasStr[3] = {"gtsam", "sbm", "sbm-mt"}; Base::print(); std::cout << "ConjugateGradientParameters: " - << "blas = " << blasStr[blas_kernel_] - << ", minIter = " << minIterations_ + << "minIter = " << minIterations_ << ", maxIter = " << maxIterations_ << ", resetIter = " << reset_ << ", eps_rel = " << epsilon_rel_