Deprecated all but three constructors.

gtsam/linear/SubgraphSolver.cpp

@@ -31,12 +31,12 @@ using namespace std;
 namespace gtsam {
 
 /**************************************************************************************************/
-SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &gfg,
+// Just taking system [A|b]
+SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &Ab,
     const Parameters &parameters, const Ordering& ordering) :
     parameters_(parameters) {
-  
   GaussianFactorGraph::shared_ptr Ab1,Ab2;
-  boost::tie(Ab1, Ab2) = splitGraph(gfg);
+  boost::tie(Ab1, Ab2) = splitGraph(Ab);
   if (parameters_.verbosity())
     cout << "Split A into (A1) " << Ab1->size() << " and (A2) " << Ab2->size()
          << " factors" << endl;
@@ -46,12 +46,8 @@ SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &gfg,
   pc_ = boost::make_shared<SubgraphPreconditioner>(Ab2, Rc1, xbar);
 }
 
-// delegate up
-SubgraphSolver::SubgraphSolver(const GaussianFactorGraph::shared_ptr &factorGraph,
-    const Parameters &parameters, const Ordering& ordering) :
-    SubgraphSolver(*factorGraph, parameters, ordering) {}
-
 /**************************************************************************************************/
+// Taking eliminated tree [R1|c] and constraint graph [A2|b2]
 SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1,
                                const GaussianFactorGraph::shared_ptr &Ab2,
                                const Parameters &parameters)
@@ -60,42 +56,40 @@ SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1,
   pc_ = boost::make_shared<SubgraphPreconditioner>(Ab2, Rc1, xbar);
 }
 
+/**************************************************************************************************/
+// Taking subgraphs [A1|b1] and [A2|b2]
 // delegate up
+SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &Ab1,
+                               const GaussianFactorGraph::shared_ptr &Ab2,
+                               const Parameters &parameters,
+                               const Ordering &ordering)
+    : SubgraphSolver(Ab1.eliminateSequential(ordering, EliminateQR), Ab2,
+                     parameters) {}
+
+/**************************************************************************************************/
+// deprecated variants
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
 SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1,
                                const GaussianFactorGraph &Ab2,
                                const Parameters &parameters)
     : SubgraphSolver(Rc1, boost::make_shared<GaussianFactorGraph>(Ab2),
-                     parameters_) {}
+                     parameters) {}
 
-// delegate up
 SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &Ab1,
                                const GaussianFactorGraph &Ab2,
                                const Parameters &parameters,
                                const Ordering &ordering)
-    : SubgraphSolver(Ab1.eliminateSequential(ordering, EliminateQR),
+    : SubgraphSolver(Ab1, boost::make_shared<GaussianFactorGraph>(Ab2),
-                     boost::make_shared<GaussianFactorGraph>(Ab2),
+                     parameters, ordering) {}
-                     parameters_) {}
+#endif
-
-// delegate up
-SubgraphSolver::SubgraphSolver(const GaussianFactorGraph::shared_ptr &Ab1,
-                               const GaussianFactorGraph::shared_ptr &Ab2,
-                               const Parameters &parameters,
-                               const Ordering &ordering)
-    : SubgraphSolver(Ab1->eliminateSequential(ordering, EliminateQR), Ab2,
-                     parameters) {}
 
 /**************************************************************************************************/
-VectorValues SubgraphSolver::optimize() {
+VectorValues SubgraphSolver::optimize() const {
   VectorValues ybar = conjugateGradients<SubgraphPreconditioner, VectorValues,
       Errors>(*pc_, pc_->zero(), parameters_);
   return pc_->x(ybar);
 }
 
-VectorValues SubgraphSolver::optimize(const VectorValues &initial) {
-  // the initial is ignored in this case ...
-  return optimize();
-}
-
 VectorValues SubgraphSolver::optimize(const GaussianFactorGraph &gfg,
     const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
     const VectorValues &initial) {

gtsam/linear/SubgraphSolver.h

@@ -28,30 +28,34 @@ class GaussianFactorGraph;
 class GaussianBayesNet;
 class SubgraphPreconditioner;
 
-class GTSAM_EXPORT SubgraphSolverParameters: public ConjugateGradientParameters {
+class GTSAM_EXPORT SubgraphSolverParameters
-public:
+    : public ConjugateGradientParameters {
+ public:
   typedef ConjugateGradientParameters Base;
-  SubgraphSolverParameters() :
+  SubgraphSolverParameters() : Base() {}
-      Base() {
+  void print() const { Base::print(); }
-  }
+  virtual void print(std::ostream &os) const { Base::print(os); }
-  void print() const {
-    Base::print();
-  }
-  virtual void print(std::ostream &os) const {
-    Base::print(os);
-  }
 };
 
 /**
- * This class implements the SPCG solver presented in Dellaert et al in IROS'10.
+ * This class implements the linear SPCG solver presented in Dellaert et al in
+ * IROS'10.
  *
- * Given a linear least-squares problem \f$ f(x) = |A x - b|^2 \f$. We split the problem into
+ * Given a linear least-squares problem \f$ f(x) = |A x - b|^2 \f$. We split the
- * \f$ f(x) = |A_t - b_t|^2 + |A_c - b_c|^2 \f$ where \f$ A_t \f$ denotes the "tree" part, and \f$ A_c \f$ denotes the "constraint" part.
+ * problem into \f$ f(x) = |A_t - b_t|^2 + |A_c - b_c|^2 \f$ where \f$ A_t \f$
- * \f$ A_t \f$ is factorized into \f$ Q_t R_t \f$, and we compute \f$ c_t = Q_t^{-1} b_t \f$, and \f$ x_t = R_t^{-1} c_t \f$ accordingly.
+ * denotes the "tree" part, and \f$ A_c \f$ denotes the "constraint" part.
- * Then we solve a reparametrized problem \f$ f(y) = |y|^2 + |A_c R_t^{-1} y - \bar{b_y}|^2 \f$, where \f$ y = R_t(x - x_t) \f$, and \f$ \bar{b_y} = (b_c - A_c x_t) \f$
  *
- * In the matrix form, it is equivalent to solving \f$ [A_c R_t^{-1} ; I ] y = [\bar{b_y} ; 0] \f$. We can solve it
+ * \f$A_t \f$ is factorized into \f$ Q_t R_t \f$, and we compute
- * with the least-squares variation of the conjugate gradient method.
+ * \f$ c_t = Q_t^{-1} b_t \f$, and \f$ x_t = R_t^{-1} c_t \f$ accordingly.
+ *
+ * Then we solve a reparametrized problem
+ * \f$ f(y) = |y|^2 + |A_c R_t^{-1} y -\bar{b_y}|^2 \f$,
+ * where \f$ y = R_t(x - x_t) \f$, and \f$ \bar{b_y} = (b_c - A_c x_t) \f$
+ *
+ * In the matrix form, it is equivalent to solving
+ * \f$ [A_c R_t^{-1} ; I ] y = [\bar{b_y} ; 0] \f$.
+ * We can solve it with the least-squares variation of the conjugate gradient
+ * method.
  *
  * To use it in nonlinear optimization, please see the following example
  *
@@ -63,69 +67,83 @@ public:
  *
  * \nosubgrouping
  */
-class GTSAM_EXPORT SubgraphSolver: public IterativeSolver {
+class GTSAM_EXPORT SubgraphSolver : public IterativeSolver {
-
+ public:
-public:
   typedef SubgraphSolverParameters Parameters;
 
-protected:
+ protected:
   Parameters parameters_;
-  boost::shared_ptr<SubgraphPreconditioner> pc_; ///< preconditioner object
+  boost::shared_ptr<SubgraphPreconditioner> pc_;  ///< preconditioner object
-
-public:
 
+ public:
+  /// @name Constructors
+  /// @{
   /**
-   * Given a gaussian factor graph, split it into a spanning tree (A1) + others (A2) for SPCG
+   * Given a gaussian factor graph, split it into a spanning tree (A1) + others
-   * Will throw exception if there are ternary factors or higher arity, as we use Kruskal's
+   * (A2) for SPCG Will throw exception if there are ternary factors or higher
-   * algorithm to split the graph, treating binary factors as edges.
+   * arity, as we use Kruskal's algorithm to split the graph, treating binary
+   * factors as edges.
    */
   SubgraphSolver(const GaussianFactorGraph &A, const Parameters &parameters,
-      const Ordering& ordering);
+                 const Ordering &ordering);
-
-  /// Shared pointer version
-  SubgraphSolver(const boost::shared_ptr<GaussianFactorGraph> &A,
-      const Parameters &parameters, const Ordering& ordering);
 
   /**
    * The user specifies the subgraph part and the constraints part.
-   * May throw exception if A1 is underdetermined. An ordering is required to eliminate Ab1.
+   * May throw exception if A1 is underdetermined. An ordering is required to
+   * eliminate Ab1. We take Ab1 as a const reference, as it will be transformed
+   * into Rc1, but take Ab2 as a shared pointer as we need to keep it around.
+   */
+  SubgraphSolver(const GaussianFactorGraph &Ab1,
+                 const boost::shared_ptr<GaussianFactorGraph> &Ab2,
+                 const Parameters &parameters, const Ordering &ordering);
+  /**
+   * The same as above, but we assume A1 was solved by caller.
+   * We take two shared pointers as we keep both around.
    */
-  SubgraphSolver(const GaussianFactorGraph &Ab1, const GaussianFactorGraph &Ab2,
-      const Parameters &parameters, const Ordering& ordering);
-
-  /// Shared pointer version
-  SubgraphSolver(const boost::shared_ptr<GaussianFactorGraph> &Ab1,
-      const boost::shared_ptr<GaussianFactorGraph> &Ab2,
-      const Parameters &parameters, const Ordering& ordering);
-
-  /// The same as above, but we assume A1 was solved by caller
   SubgraphSolver(const boost::shared_ptr<GaussianBayesNet> &Rc1,
-      const GaussianFactorGraph &Ab2, const Parameters &parameters);
+                 const boost::shared_ptr<GaussianFactorGraph> &Ab2,
-
+                 const Parameters &parameters);
-  /// Shared pointer version
-  SubgraphSolver(const boost::shared_ptr<GaussianBayesNet> &Rc1,
-      const boost::shared_ptr<GaussianFactorGraph> &Ab2,
-      const Parameters &parameters);
 
   /// Destructor
-  virtual ~SubgraphSolver() {
+  virtual ~SubgraphSolver() {}
-  }
+
+  /// @}
+  /// @name Implement interface
+  /// @{
 
   /// Optimize from zero
-  VectorValues optimize();
+  VectorValues optimize() const;
 
-  /// Optimize from given initial values
+  /// Interface that IterativeSolver subclasses have to implement
-  VectorValues optimize(const VectorValues &initial);
-
-  /** Interface that IterativeSolver subclasses have to implement */
   virtual VectorValues optimize(const GaussianFactorGraph &gfg,
-      const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
+                                const KeyInfo &keyInfo,
-      const VectorValues &initial);
+                                const std::map<Key, Vector> &lambda,
+                                const VectorValues &initial) override;
 
-protected:
+  /// @}
+
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
+  /// @name Deprecated
+  /// @{
+  SubgraphSolver(const boost::shared_ptr<GaussianFactorGraph> &A,
+                 const Parameters &parameters, const Ordering &ordering)
+      : SubgraphSolver(*A, parameters, ordering){};
+  SubgraphSolver(const GaussianFactorGraph &, const GaussianFactorGraph &,
+                 const Parameters &, const Ordering &);
+  SubgraphSolver(const boost::shared_ptr<GaussianFactorGraph> &Ab1,
+                 const boost::shared_ptr<GaussianFactorGraph> &Ab2,
+                 const Parameters &parameters, const Ordering &ordering)
+      : SubgraphSolver(*Ab1, Ab2, parameters, ordering) {}
+  SubgraphSolver(const boost::shared_ptr<GaussianBayesNet> &,
+                 const GaussianFactorGraph &, const Parameters &);
+  /// @}
+#endif
+
+ protected:
   /// Split graph using Kruskal algorithm, treating binary factors as edges.
-  static boost::tuple<boost::shared_ptr<GaussianFactorGraph>, boost::shared_ptr<GaussianFactorGraph>>
+  static boost::tuple<boost::shared_ptr<GaussianFactorGraph>,
+                      boost::shared_ptr<GaussianFactorGraph>>
   splitGraph(const GaussianFactorGraph &gfg);
 };
 
-} // namespace gtsam
+}  // namespace gtsam

tests/smallExample.h

@@ -614,26 +614,26 @@ inline Ordering planarOrdering(size_t N) {
 }
 
 /* ************************************************************************* */
-inline std::pair<GaussianFactorGraph, GaussianFactorGraph > splitOffPlanarTree(size_t N,
+inline std::pair<GaussianFactorGraph::shared_ptr, GaussianFactorGraph::shared_ptr > splitOffPlanarTree(size_t N,
     const GaussianFactorGraph& original) {
-  GaussianFactorGraph T, C;
+  auto T = boost::make_shared<GaussianFactorGraph>(), C= boost::make_shared<GaussianFactorGraph>();
 
   // Add the x11 constraint to the tree
-  T.push_back(original[0]);
+  T->push_back(original[0]);
 
   // Add all horizontal constraints to the tree
   size_t i = 1;
   for (size_t x = 1; x < N; x++)
     for (size_t y = 1; y <= N; y++, i++)
-      T.push_back(original[i]);
+      T->push_back(original[i]);
 
   // Add first vertical column of constraints to T, others to C
   for (size_t x = 1; x <= N; x++)
     for (size_t y = 1; y < N; y++, i++)
       if (x == 1)
-        T.push_back(original[i]);
+        T->push_back(original[i]);
       else
-        C.push_back(original[i]);
+        C->push_back(original[i]);
 
   return std::make_pair(T, C);
 }

tests/testSubgraphSolver.cpp

@@ -46,6 +46,13 @@ static double error(const GaussianFactorGraph& fg, const VectorValues& x) {
   return total_error;
 }
 
+/* ************************************************************************* */
+TEST( SubgraphSolver, Parameters )
+{
+  LONGS_EQUAL(SubgraphSolverParameters::SILENT, kParameters.verbosity());
+  LONGS_EQUAL(500, kParameters.maxIterations());
+}
+
 /* ************************************************************************* */
 TEST( SubgraphSolver, constructor1 )
 {
@@ -71,12 +78,12 @@ TEST( SubgraphSolver, constructor2 )
   boost::tie(Ab, xtrue) = example::planarGraph(N); // A*x-b
 
   // Get the spanning tree
-  GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2
+  GaussianFactorGraph::shared_ptr Ab1, Ab2; // A1*x-b1 and A2*x-b2
-  boost::tie(Ab1_, Ab2_) = example::splitOffPlanarTree(N, Ab);
+  boost::tie(Ab1, Ab2) = example::splitOffPlanarTree(N, Ab);
 
   // The second constructor takes two factor graphs, so the caller can specify
   // the preconditioner (Ab1) and the constraints that are left out (Ab2)
-  SubgraphSolver solver(Ab1_, Ab2_, kParameters, kOrdering);
+  SubgraphSolver solver(*Ab1, Ab2, kParameters, kOrdering);
   VectorValues optimized = solver.optimize();
   DOUBLES_EQUAL(0.0, error(Ab, optimized), 1e-5);
 }
@@ -91,15 +98,15 @@ TEST( SubgraphSolver, constructor3 )
   boost::tie(Ab, xtrue) = example::planarGraph(N); // A*x-b
 
   // Get the spanning tree and corresponding kOrdering
-  GaussianFactorGraph Ab1_, Ab2_; // A1*x-b1 and A2*x-b2
+  GaussianFactorGraph::shared_ptr Ab1, Ab2; // A1*x-b1 and A2*x-b2
-  boost::tie(Ab1_, Ab2_) = example::splitOffPlanarTree(N, Ab);
+  boost::tie(Ab1, Ab2) = example::splitOffPlanarTree(N, Ab);
 
   // The caller solves |A1*x-b1|^2 == |R1*x-c1|^2, where R1 is square UT
-  auto Rc1 = Ab1_.eliminateSequential();
+  auto Rc1 = Ab1->eliminateSequential();
 
   // The third constructor allows the caller to pass an already solved preconditioner Rc1_
   // as a Bayes net, in addition to the "loop closing constraints" Ab2, as before
-  SubgraphSolver solver(Rc1, Ab2_, kParameters);
+  SubgraphSolver solver(Rc1, Ab2, kParameters);
   VectorValues optimized = solver.optimize();
   DOUBLES_EQUAL(0.0, error(Ab, optimized), 1e-5);
 }