Replaced initialize calls with C++11 delegating constructors
Frank Dellaert
parent
485175e2f8
commit
6d938ce5cc
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@ -33,54 +33,56 @@ namespace gtsam {
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/**************************************************************************************************/
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SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &gfg,
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const Parameters ¶meters, const Ordering& ordering) :
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parameters_(parameters), ordering_(ordering) {
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initialize(gfg);
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parameters_(parameters) {
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GaussianFactorGraph::shared_ptr Ab1,Ab2;
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boost::tie(Ab1, Ab2) = splitGraph(gfg);
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if (parameters_.verbosity())
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cout << "Split A into (A1) " << Ab1->size() << " and (A2) " << Ab2->size()
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<< " factors" << endl;
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auto Rc1 = Ab1->eliminateSequential(ordering, EliminateQR);
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auto xbar = boost::make_shared<VectorValues>(Rc1->optimize());
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pc_ = boost::make_shared<SubgraphPreconditioner>(Ab2, Rc1, xbar);
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}
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/**************************************************************************************************/
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SubgraphSolver::SubgraphSolver(const GaussianFactorGraph::shared_ptr &jfg,
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// delegate up
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SubgraphSolver::SubgraphSolver(const GaussianFactorGraph::shared_ptr &factorGraph,
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const Parameters ¶meters, const Ordering& ordering) :
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parameters_(parameters), ordering_(ordering) {
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initialize(*jfg);
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}
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SubgraphSolver(*factorGraph, parameters, ordering) {}
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/**************************************************************************************************/
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SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1,
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const GaussianFactorGraph::shared_ptr &Ab2,
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const Parameters ¶meters)
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: parameters_(parameters) {
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auto xbar = boost::make_shared<VectorValues>(Rc1->optimize());
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pc_ = boost::make_shared<SubgraphPreconditioner>(Ab2, Rc1, xbar);
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}
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// delegate up
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SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1,
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const GaussianFactorGraph &Ab2,
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const Parameters ¶meters)
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: SubgraphSolver(Rc1, boost::make_shared<GaussianFactorGraph>(Ab2),
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parameters_) {}
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// delegate up
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SubgraphSolver::SubgraphSolver(const GaussianFactorGraph &Ab1,
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const GaussianFactorGraph &Ab2, const Parameters ¶meters,
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const Ordering& ordering) :
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parameters_(parameters), ordering_(ordering) {
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const GaussianFactorGraph &Ab2,
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const Parameters ¶meters,
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const Ordering &ordering)
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: SubgraphSolver(Ab1.eliminateSequential(ordering, EliminateQR),
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boost::make_shared<GaussianFactorGraph>(Ab2),
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parameters_) {}
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GaussianBayesNet::shared_ptr Rc1 = Ab1.eliminateSequential(ordering_,
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EliminateQR);
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initialize(Rc1, boost::make_shared<GaussianFactorGraph>(Ab2));
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}
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/**************************************************************************************************/
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// delegate up
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SubgraphSolver::SubgraphSolver(const GaussianFactorGraph::shared_ptr &Ab1,
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const GaussianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters,
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const Ordering& ordering) :
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parameters_(parameters), ordering_(ordering) {
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GaussianBayesNet::shared_ptr Rc1 = Ab1->eliminateSequential(ordering_,
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EliminateQR);
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initialize(Rc1, Ab2);
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}
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/**************************************************************************************************/
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SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1,
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const GaussianFactorGraph &Ab2, const Parameters ¶meters,
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const Ordering& ordering) :
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parameters_(parameters), ordering_(ordering) {
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initialize(Rc1, boost::make_shared<GaussianFactorGraph>(Ab2));
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}
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/**************************************************************************************************/
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SubgraphSolver::SubgraphSolver(const GaussianBayesNet::shared_ptr &Rc1,
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const GaussianFactorGraph::shared_ptr &Ab2, const Parameters ¶meters,
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const Ordering& ordering) :
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parameters_(parameters), ordering_(ordering) {
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initialize(Rc1, Ab2);
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}
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const GaussianFactorGraph::shared_ptr &Ab2,
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const Parameters ¶meters,
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const Ordering &ordering)
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: SubgraphSolver(Ab1->eliminateSequential(ordering, EliminateQR), Ab2,
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parameters) {}
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/**************************************************************************************************/
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VectorValues SubgraphSolver::optimize() {
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@ -89,38 +91,16 @@ VectorValues SubgraphSolver::optimize() {
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return pc_->x(ybar);
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}
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/**************************************************************************************************/
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VectorValues SubgraphSolver::optimize(const VectorValues &initial) {
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// the initial is ignored in this case ...
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return optimize();
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}
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/**************************************************************************************************/
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void SubgraphSolver::initialize(const GaussianFactorGraph &jfg) {
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GaussianFactorGraph::shared_ptr Ab1 =
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boost::make_shared<GaussianFactorGraph>(), Ab2 = boost::make_shared<
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GaussianFactorGraph>();
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boost::tie(Ab1, Ab2) = splitGraph(jfg);
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if (parameters_.verbosity())
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cout << "Split A into (A1) " << Ab1->size() << " and (A2) " << Ab2->size()
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<< " factors" << endl;
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GaussianBayesNet::shared_ptr Rc1 = Ab1->eliminateSequential(ordering_,
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EliminateQR);
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VectorValues::shared_ptr xbar = boost::make_shared<VectorValues>(
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Rc1->optimize());
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pc_ = boost::make_shared<SubgraphPreconditioner>(Ab2, Rc1, xbar);
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VectorValues SubgraphSolver::optimize(const GaussianFactorGraph &gfg,
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const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
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const VectorValues &initial) {
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return VectorValues();
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}
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/**************************************************************************************************/
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void SubgraphSolver::initialize(const GaussianBayesNet::shared_ptr &Rc1,
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const GaussianFactorGraph::shared_ptr &Ab2) {
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VectorValues::shared_ptr xbar = boost::make_shared<VectorValues>(
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Rc1->optimize());
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pc_ = boost::make_shared<SubgraphPreconditioner>(Ab2, Rc1, xbar);
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}
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/**************************************************************************************************/
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// Run Kruskal algorithm to create a spanning tree of factor "edges".
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// Edges are not weighted, and will only work if factors are binary.
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@ -163,9 +143,5 @@ SubgraphSolver::splitGraph(const GaussianFactorGraph &factorGraph) {
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}
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/****************************************************************************/
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VectorValues SubgraphSolver::optimize(const GaussianFactorGraph &gfg,
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const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
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const VectorValues &initial) {
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return VectorValues();
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}
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} // \namespace gtsam
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@ -70,7 +70,6 @@ public:
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protected:
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Parameters parameters_;
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Ordering ordering_;
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boost::shared_ptr<SubgraphPreconditioner> pc_; ///< preconditioner object
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public:
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@ -88,8 +87,8 @@ public:
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const Parameters ¶meters, const Ordering& ordering);
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/**
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* The user specify the subgraph part and the constraint part
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* may throw exception if A1 is underdetermined
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* The user specifies the subgraph part and the constraints part.
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* May throw exception if A1 is underdetermined. An ordering is required to eliminate Ab1.
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*/
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SubgraphSolver(const GaussianFactorGraph &Ab1, const GaussianFactorGraph &Ab2,
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const Parameters ¶meters, const Ordering& ordering);
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@ -99,15 +98,14 @@ public:
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const boost::shared_ptr<GaussianFactorGraph> &Ab2,
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const Parameters ¶meters, const Ordering& ordering);
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/* The same as above, but the A1 is solved before */
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/// The same as above, but we assume A1 was solved by caller
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SubgraphSolver(const boost::shared_ptr<GaussianBayesNet> &Rc1,
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const GaussianFactorGraph &Ab2, const Parameters ¶meters,
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const Ordering& ordering);
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const GaussianFactorGraph &Ab2, const Parameters ¶meters);
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/// Shared pointer version
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SubgraphSolver(const boost::shared_ptr<GaussianBayesNet> &Rc1,
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const boost::shared_ptr<GaussianFactorGraph> &Ab2,
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const Parameters ¶meters, const Ordering& ordering);
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const Parameters ¶meters);
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/// Destructor
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virtual ~SubgraphSolver() {
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@ -125,13 +123,8 @@ public:
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const VectorValues &initial);
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protected:
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void initialize(const GaussianFactorGraph &jfg);
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void initialize(const boost::shared_ptr<GaussianBayesNet> &Rc1,
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const boost::shared_ptr<GaussianFactorGraph> &Ab2);
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boost::tuple<boost::shared_ptr<GaussianFactorGraph>,
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boost::shared_ptr<GaussianFactorGraph> >
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/// Split graph using Kruskal algorithm, treating binary factors as edges.
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static boost::tuple<boost::shared_ptr<GaussianFactorGraph>, boost::shared_ptr<GaussianFactorGraph>>
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splitGraph(const GaussianFactorGraph &gfg);
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};
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