improve PCGSolverParameters

gtsam/linear/PCGSolver.cpp

@@ -40,7 +40,7 @@ void PCGSolverParameters::print(ostream &os) const {
 /*****************************************************************************/
 PCGSolver::PCGSolver(const PCGSolverParameters &p) {
   parameters_ = p;
-  preconditioner_ = createPreconditioner(p.preconditioner_);
+  preconditioner_ = createPreconditioner(p.preconditioner());
 }
 
 void PCGSolverParameters::setPreconditionerParams(const std::shared_ptr<PreconditionerParameters> preconditioner) {

gtsam/linear/PCGSolver.h

@@ -34,26 +34,30 @@ struct PreconditionerParameters;
  * Parameters for PCG
  */
 struct GTSAM_EXPORT PCGSolverParameters: public ConjugateGradientParameters {
-public:
+ public:
   typedef ConjugateGradientParameters Base;
   typedef std::shared_ptr<PCGSolverParameters> shared_ptr;
 
-  PCGSolverParameters() {
+protected:
-  }
+  std::shared_ptr<PreconditionerParameters> preconditioner_;
+
+public:
+  PCGSolverParameters() {}
+
+  PCGSolverParameters(
+      const std::shared_ptr<PreconditionerParameters> &preconditioner)
+      : preconditioner_(preconditioner) {}
 
   void print(std::ostream &os) const override;
 
-  /* interface to preconditioner parameters */
+  const std::shared_ptr<PreconditionerParameters> preconditioner() const {
-  inline const PreconditionerParameters& preconditioner() const {
+    return preconditioner_;
-    return *preconditioner_;
   }
 
-  // needed for python wrapper
+  void setPreconditionerParams(
+      const std::shared_ptr<PreconditionerParameters> preconditioner);
+
   void print(const std::string &s) const;
-
-  std::shared_ptr<PreconditionerParameters> preconditioner_;
-
-  void setPreconditionerParams(const std::shared_ptr<PreconditionerParameters> preconditioner);
 };
 
 /**

gtsam/sfm/ShonanAveraging.cpp

@@ -67,20 +67,15 @@ ShonanAveragingParameters<d>::ShonanAveragingParameters(
   builderParameters.augmentationWeight = SubgraphBuilderParameters::SKELETON;
   builderParameters.augmentationFactor = 0.0;
 
-  auto pcg = std::make_shared<PCGSolverParameters>();
-
   // Choose optimization method
   if (method == "SUBGRAPH") {
     lm.iterativeParams =
         std::make_shared<SubgraphSolverParameters>(builderParameters);
   } else if (method == "SGPC") {
-    pcg->preconditioner_ =
+    lm.iterativeParams = std::make_shared<PCGSolverParameters>(
-        std::make_shared<SubgraphPreconditionerParameters>(builderParameters);
+        std::make_shared<SubgraphPreconditionerParameters>(builderParameters));
-    lm.iterativeParams = pcg;
   } else if (method == "JACOBI") {
-    pcg->preconditioner_ =
+    lm.iterativeParams = std::make_shared<PCGSolverParameters>(std::make_shared<BlockJacobiPreconditionerParameters>());
-        std::make_shared<BlockJacobiPreconditionerParameters>();
-    lm.iterativeParams = pcg;
   } else if (method == "QR") {
     lm.setLinearSolverType("MULTIFRONTAL_QR");
   } else if (method == "CHOLESKY") {