revised interfaces

gtsam/linear/ConjugateGradientSolver.h

@@ -20,19 +20,27 @@ namespace gtsam {
 	class ConjugateGradientSolver : public IterativeSolver {
 
 	protected:
-		const LINEAR *ptr_;
 
+		typedef boost::shared_ptr<GRAPH> sharedGRAPH ;
+		typedef boost::shared_ptr<LINEAR> sharedLINEAR ;
+		typedef boost::shared_ptr<VALUES> sharedVALUES ;
 		typedef boost::shared_ptr<VectorValues> sharedVectorValues ;
+
+		const LINEAR *ptr_;
 		sharedVectorValues zeros_;
 
 	public:
 
 		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 sharedParameters 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))) {}
 
 		ConjugateGradientSolver(const LINEAR &GFG) {
+			std::cout << "[ConjugateGradientSolver] Unexpected usage.." << std::endl;
 			throw std::runtime_error("SubgraphSolver: gaussian factor graph initialization not supported");
 	  	}
 

gtsam/linear/IterativeOptimizationParameters.h

@@ -11,15 +11,36 @@ namespace gtsam {
 
 	// a container for all related parameters
 	struct IterativeOptimizationParameters {
+
+	public:
+
 		typedef enum {
 			SILENT,
 			ERROR,
 		} verbosityLevel;
 
+	protected:
+		int maxIterations_;
+		int reset_ ; // number of iterations before reset, for cg and gmres
+		double epsilon_; // relative error
+		double epsilon_abs_; // absolute error
+		verbosityLevel verbosity_;
+
+	public:
 		IterativeOptimizationParameters():
 			maxIterations_(100),
 			reset_(101),
-			epsilon_(1e-5),epsilon_abs_(1e-5),verbosity_(SILENT) {}
+			epsilon_(1e-5),
+			epsilon_abs_(1e-5),
+			verbosity_(SILENT) {}
+
+		IterativeOptimizationParameters(const IterativeOptimizationParameters &parameters):
+			maxIterations_(parameters.maxIterations_),
+			reset_(parameters.reset_),
+			epsilon_(parameters.epsilon_),
+			epsilon_abs_(parameters.epsilon_abs_),
+			verbosity_(parameters.verbosity_) {}
+
 
 		IterativeOptimizationParameters
 		(int maxIterations, double epsilon, double epsilon_abs, verbosityLevel verbosity=SILENT, int reset=-1):
@@ -34,11 +55,5 @@ namespace gtsam {
 		double epsilon_abs() const { return epsilon_abs_ ; }
 		verbosityLevel verbosity() const { return verbosity_ ; }
 
-	protected:
-		int maxIterations_;
-		int reset_ ; // number of iterations before reset, for cg and gmres
-		double epsilon_; // relative error
-		double epsilon_abs_; // absolute error
-		verbosityLevel verbosity_;
 	};
 }

gtsam/linear/IterativeSolver.h

@@ -30,6 +30,9 @@ public:
 	IterativeSolver(const IterativeSolver &solver):
 		parameters_(solver.parameters_) {}
 
+	IterativeSolver(const IterativeOptimizationParameters &parameters):
+		parameters_(new IterativeOptimizationParameters(parameters)) {}
+
 	IterativeSolver(const sharedParameters parameters):
 		parameters_(parameters) {}
 };

gtsam/linear/SubgraphSolver.h

@@ -54,7 +54,11 @@ namespace gtsam {
 
 	public:
 
+		SubgraphSolver(const GRAPH& G, const VALUES& theta0, const Parameters &parameters = Parameters()):
+			IterativeSolver(parameters){ initialize(G,theta0); }
+
 	  	SubgraphSolver(const LINEAR &GFG) {
+			std::cout << "[SubgraphSolver] Unexpected usage.." << std::endl;
 			throw std::runtime_error("SubgraphSolver: gaussian factor graph initialization not supported");
 	  	}
 
@@ -67,10 +71,6 @@ namespace gtsam {
 	  				   sharedParameters parameters = boost::make_shared<Parameters>()) :
 	  		IterativeSolver(parameters), ordering_(ordering), pairs_(pairs), pc_(pc) {}
 
-		SubgraphSolver(const GRAPH& G, const VALUES& theta0):IterativeSolver(){
-			initialize(G,theta0);
-		}
-
 		shared_ptr update(const LINEAR &graph) const ;
 		VectorValues::shared_ptr optimize() const ;
 		shared_ordering ordering() const { return ordering_; }