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fix compile error

release/4.3a0
Yong-Dian Jian 2010-10-26 23:11:22 +00:00
parent ea3e137060
commit 70aa2f7f5d
4 changed files with 8 additions and 15 deletions
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6
gtsam/linear/ConjugateGradientSolver.h
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@ -33,10 +33,7 @@ namespace gtsam {
typedef boost::shared_ptr<const ConjugateGradientSolver> shared_ptr ; typedef boost::shared_ptr<const ConjugateGradientSolver> shared_ptr ;
// ConjugateGradientSolver(const GRAPH &graph, const VALUES &initial, const Ordering &ordering, const sharedParameters parameters): ConjugateGradientSolver(const GRAPH &graph, const VALUES &initial, const Ordering &ordering, const Parameters &parameters = Parameters()):
// IterativeSolver(parameters), ptr_(0), zeros_(boost::make_shared<VectorValues>(initial.zero(ordering))) {}
ConjugateGradientSolver(const GRAPH &graph, const VALUES &initial, const Ordering &ordering, const Parameters &parameters = Parameters()):
IterativeSolver(parameters), ptr_(0), zeros_(boost::make_shared<VectorValues>(initial.zero(ordering))) {} IterativeSolver(parameters), ptr_(0), zeros_(boost::make_shared<VectorValues>(initial.zero(ordering))) {}
ConjugateGradientSolver(const LINEAR &GFG) { ConjugateGradientSolver(const LINEAR &GFG) {
@ -53,7 +50,6 @@ namespace gtsam {
} }
VectorValues::shared_ptr optimize() const { VectorValues::shared_ptr optimize() const {
//boost::shared_ptr<VectorValues> zeros (ptr_->allocateVectorVavlues());
VectorValues x = conjugateGradientDescent(*ptr_, *zeros_, parameters_); VectorValues x = conjugateGradientDescent(*ptr_, *zeros_, parameters_);
return boost::make_shared<VectorValues>(x) ; return boost::make_shared<VectorValues>(x) ;
} }

10
gtsam/linear/SubgraphSolver-inl.h
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@ -37,12 +37,12 @@ SubgraphSolver<GRAPH,LINEAR,VALUES>::update(const LINEAR &graph) const {
graph.split(pairs_, *Ab1, *Ab2) ; graph.split(pairs_, *Ab1, *Ab2) ;
if (parameters_->verbosity()) cout << ",with " << Ab1->size() << " and " << Ab2->size() << " factors" << endl; if (parameters_->verbosity()) cout << ",with " << Ab1->size() << " and " << Ab2->size() << " factors" << endl;
// // Add a HardConstra int to the root, otherwise the root will be singular // // Add a HardConstraint to the root, otherwise the root will be singular
// Key root = keys.back(); // Key root = keys.back();
// T_.addHardConstraint(root, theta0[root]); // T_.addHardConstraint(root, theta0[root]);
// //
// // compose the approximate solution // // compose the approximate solution
// theta_bar_ = composePoses<GRAPH, Constraint, Pose, Values> (T_, tree, theta0[root]); // theta_bar_ = composePoses<GRAPH, Constraint, Pose, Values> (T_, tree, theta0[root]);
LINEAR sacrificialAb1 = *Ab1; // duplicate !!!!! LINEAR sacrificialAb1 = *Ab1; // duplicate !!!!!
SubgraphPreconditioner::sharedBayesNet Rc1 = EliminationTree<GaussianFactor>::Create(sacrificialAb1)->eliminate(); SubgraphPreconditioner::sharedBayesNet Rc1 = EliminationTree<GaussianFactor>::Create(sacrificialAb1)->eliminate();

3
gtsam/linear/SubgraphSolver.h
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@ -75,13 +75,10 @@ namespace gtsam {
VectorValues::shared_ptr optimize() const ; VectorValues::shared_ptr optimize() const ;
shared_ordering ordering() const { return ordering_; } shared_ordering ordering() const { return ordering_; }
protected: protected:
void initialize(const GRAPH& G, const VALUES& theta0); void initialize(const GRAPH& G, const VALUES& theta0);
private: private:
SubgraphSolver():IterativeSolver(){} SubgraphSolver():IterativeSolver(){}
}; };

4
gtsam/nonlinear/NonlinearOptimization-inl.h
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@ -81,7 +81,7 @@ namespace gtsam {
typedef NonlinearOptimizer<G, T, GaussianFactorGraph, Solver> Optimizer; typedef NonlinearOptimizer<G, T, GaussianFactorGraph, Solver> Optimizer;
Ordering::shared_ptr ordering = initialEstimate.orderingArbitrary() ; Ordering::shared_ptr ordering = initialEstimate.orderingArbitrary() ;
sharedSolver solver = boost::make_shared<Solver>(graph, initialEstimate, *ordering, boost::make_shared<IterativeOptimizationParameters>()); sharedSolver solver = boost::make_shared<Solver>(graph, initialEstimate, *ordering, IterativeOptimizationParameters());
Optimizer optimizer( Optimizer optimizer(
boost::make_shared<const G>(graph), boost::make_shared<const G>(graph),
boost::make_shared<const T>(initialEstimate), boost::make_shared<const T>(initialEstimate),
@ -105,7 +105,7 @@ namespace gtsam {
typedef SubgraphSolver<G,GaussianFactorGraph,T> Solver; typedef SubgraphSolver<G,GaussianFactorGraph,T> Solver;
typedef boost::shared_ptr<Solver> shared_Solver; typedef boost::shared_ptr<Solver> shared_Solver;
typedef NonlinearOptimizer<G, T, GaussianFactorGraph, Solver> SPCGOptimizer; typedef NonlinearOptimizer<G, T, GaussianFactorGraph, Solver> SPCGOptimizer;
shared_Solver solver = boost::make_shared<Solver>(graph, initialEstimate); shared_Solver solver = boost::make_shared<Solver>(graph, initialEstimate, IterativeOptimizationParameters());
SPCGOptimizer optimizer( SPCGOptimizer optimizer(
boost::make_shared<const G>(graph), boost::make_shared<const G>(graph),
boost::make_shared<const T>(initialEstimate), boost::make_shared<const T>(initialEstimate),