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

take out the blas kernel parameter

release/4.3a0
Yong-Dian Jian 2012-06-15 21:49:01 +00:00
parent 82482e61fc
commit 22017065e4
1 changed files with 5 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
gtsam/linear/ConjugateGradientSolver.h
View File

@ -32,24 +32,14 @@ public:
double epsilon_rel_; ///< threshold for relative error decrease double epsilon_rel_; ///< threshold for relative error decrease
double epsilon_abs_; ///< threshold for absolute 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() 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, ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, double epsilon_rel, double epsilon_abs)
double epsilon_rel, double epsilon_abs, BLASKernel blas = GTSAM) : minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs){}
: minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset),
epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs), blas_kernel_(blas) {}
ConjugateGradientParameters(const ConjugateGradientParameters &p) ConjugateGradientParameters(const ConjugateGradientParameters &p)
: Base(p), minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), : Base(p), minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_) {}
epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_), blas_kernel_(p.blas_kernel_) {}
/* general interface */ /* general interface */
inline size_t minIterations() const { return minIterations_; } inline size_t minIterations() const { return minIterations_; }
@ -58,14 +48,11 @@ public:
inline double epsilon() const { return epsilon_rel_; } inline double epsilon() const { return epsilon_rel_; }
inline double epsilon_rel() const { return epsilon_rel_; } inline double epsilon_rel() const { return epsilon_rel_; }
inline double epsilon_abs() const { return epsilon_abs_; } inline double epsilon_abs() const { return epsilon_abs_; }
inline BLASKernel blas_kernel() const { return blas_kernel_; }
void print() const { void print() const {
const std::string blasStr[3] = {"gtsam", "sbm", "sbm-mt"};
Base::print(); Base::print();
std::cout << "ConjugateGradientParameters: " std::cout << "ConjugateGradientParameters: "
<< "blas = " << blasStr[blas_kernel_] << "minIter = " << minIterations_
<< ", minIter = " << minIterations_
<< ", maxIter = " << maxIterations_ << ", maxIter = " << maxIterations_
<< ", resetIter = " << reset_ << ", resetIter = " << reset_
<< ", eps_rel = " << epsilon_rel_ << ", eps_rel = " << epsilon_rel_