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put Factorization class in its own file, and added checks in constructors that take shared pointers, so we get some more meaningful output rather than *segmentation error*

release/4.3a0
Frank Dellaert 2010-03-05 15:09:09 +00:00
parent fccbaa2d6f
commit 5ef0400e06
5 changed files with 75 additions and 49 deletions
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49
cpp/Factorization.h Normal file
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@ -0,0 +1,49 @@
/**
* @file Factorization
* @brief Template Linear solver class that uses a Gaussian Factor Graph
* @author Kai Ni
* @author Frank Dellaert
*/
// $Id: GaussianFactorGraph.h,v 1.24 2009/08/14 20:48:51 acunning Exp $
#pragma once
#include <stdexcept>
#include "GaussianFactorGraph.h"
namespace gtsam {
class Ordering;
/**
* A linear system solver using factorization
*/
template <class NonlinearGraph, class Config>
class Factorization {
private:
boost::shared_ptr<const Ordering> ordering_;
bool useOldEliminate_;
public:
Factorization(boost::shared_ptr<const Ordering> ordering, bool old=true)
: ordering_(ordering), useOldEliminate_(old) {
if (!ordering) throw std::invalid_argument("Factorization constructor: ordering = NULL");
}
/**
* solve for the optimal displacement in the tangent space, and then solve
* the resulted linear system
*/
VectorConfig optimize(GaussianFactorGraph& fg) const {
return fg.optimize(*ordering_, useOldEliminate_);
}
/**
* linearize the non-linear graph around the current config
*/
boost::shared_ptr<GaussianFactorGraph> linearize(const NonlinearGraph& g, const Config& config) const {
return g.linearize(config);
}
};
}

30
cpp/GaussianFactorGraph.h
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@ -255,32 +255,4 @@ namespace gtsam {
size_t maxIterations = 0) const;
};
/**
* A linear system solver using factorization
*/
template <class NonlinearGraph, class Config>
class Factorization {
private:
boost::shared_ptr<const Ordering> ordering_;
bool useOldEliminate_;
public:
Factorization(boost::shared_ptr<const Ordering> ordering, bool old=true)
: ordering_(ordering), useOldEliminate_(old) {}
/**
* solve for the optimal displacement in the tangent space, and then solve
* the resulted linear system
*/
VectorConfig optimize(GaussianFactorGraph& fg) const {
return fg.optimize(*ordering_, useOldEliminate_);
}
/**
* linearize the non-linear graph around the current config
*/
boost::shared_ptr<GaussianFactorGraph> linearize(const NonlinearGraph& g, const Config& config) const {
return g.linearize(config);
}
};
}
} // namespace gtsam

28
cpp/Makefile.am
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@ -92,7 +92,7 @@ testBinaryBayesNet_SOURCES = testBinaryBayesNet.cpp
testBinaryBayesNet_LDADD = libgtsam.la
# Gaussian inference
headers += GaussianFactorSet.h SharedGaussian.h SharedDiagonal.h VectorConfig.h
headers += GaussianFactorSet.h SharedGaussian.h SharedDiagonal.h VectorConfig.h Factorization.h
sources += NoiseModel.cpp Errors.cpp VectorMap.cpp VectorBTree.cpp GaussianFactor.cpp
sources += GaussianFactorGraph.cpp GaussianConditional.cpp GaussianBayesNet.cpp
check_PROGRAMS += testVectorMap testVectorBTree testGaussianFactor testGaussianFactorGraph
@ -296,24 +296,24 @@ AM_LDFLAGS = -L../CppUnitLite -lCppUnitLite $(BOOST_LDFLAGS) $(boost_serializati
# TESTING: adding cblas implementation with atlas
#AM_CXXFLAGS += -DCBLAS
#libgtsam_la_CPPFLAGS += -DCBLAS
#AM_LDFLAGS += -lcblas -latlas
#libgtsam_la_LDFLAGS += -lcblas -latlas
#AM_LDFLAGS += -L/opt/local/lib -lcblas -latlas -llapack -lptcblas -lptf77blas -lf77blas
#libgtsam_la_LDFLAGS += -L/opt/local/lib -lcblas -latlas -llapack -lptcblas -lptf77blas -lf77blas
#######################
# GSL/ATLAS inclusion
#######################
#GSL using ATLAS
if GSL
AM_CXXFLAGS += -DGSL $(GSL_CFLAGS)
libgtsam_la_CPPFLAGS += -DGSL $(GSL_CFLAGS)
if ATLAS
AM_LDFLAGS += $(GSL_LIBS_NO_CBLAS) -lcblas -latlas
libgtsam_la_LDFLAGS += $(GSL_LIBS_NO_CBLAS) -lcblas -latlas
else
AM_LDFLAGS += $(GSL_LIBS)
libgtsam_la_LDFLAGS += $(GSL_LIBS)
endif
endif
#if GSL
#AM_CXXFLAGS += -DGSL $(GSL_CFLAGS)
#libgtsam_la_CPPFLAGS += -DGSL $(GSL_CFLAGS)
#if ATLAS
#AM_LDFLAGS += $(GSL_LIBS_NO_CBLAS) -lcblas -latlas
#libgtsam_la_LDFLAGS += $(GSL_LIBS_NO_CBLAS) -lcblas -latlas
#else
#AM_LDFLAGS += $(GSL_LIBS)
#libgtsam_la_LDFLAGS += $(GSL_LIBS)
#endif
#endif
TESTS = $(check_PROGRAMS)
CXXLINK = $(LIBTOOL) $(AM_LIBTOOLFLAGS) $(LIBTOOLFLAGS) --mode=link \

12
cpp/NonlinearOptimizer-inl.h
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@ -43,14 +43,18 @@ namespace gtsam {
return converged;
}
/* ************************************************************************* */
// Constructors without the solver
/* ************************************************************************* */
template<class G, class C, class L, class S, class W>
NonlinearOptimizer<G, C, L, S, W>::NonlinearOptimizer(shared_graph graph,
shared_config config, shared_solver solver, double lambda) :
graph_(graph), config_(config), error_(graph->error(
*config)), lambda_(lambda), solver_(solver) {
graph_(graph), config_(config), lambda_(lambda), solver_(solver) {
if (!graph) throw std::invalid_argument(
"NonlinearOptimizer constructor: graph = NULL");
if (!config) throw std::invalid_argument(
"NonlinearOptimizer constructor: config = NULL");
if (!solver) throw std::invalid_argument(
"NonlinearOptimizer constructor: solver = NULL");
error_ = graph->error(*config);
}
/* ************************************************************************* */

5
cpp/NonlinearOptimizer.h
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@ -9,8 +9,9 @@
#define NONLINEAROPTIMIZER_H_
#include <boost/shared_ptr.hpp>
#include "NonlinearFactorGraph.h"
#include "VectorConfig.h"
#include "NonlinearFactorGraph.h"
#include "Factorization.h"
namespace gtsam {
@ -69,7 +70,7 @@ namespace gtsam {
// keep a configuration and its error
// These typically change once per iteration (in a functional way)
const shared_config config_;
const double error_;
double error_; // TODO FD: no more const because in constructor I need to set it after checking :-(
// keep current lambda for use within LM only
// TODO: red flag, should we have an LM class ?