12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added comments, removed cruft

release/4.3a0
Frank Dellaert 2019-04-04 22:57:27 -04:00
parent 9581e4939b
commit a7826ab417
2 changed files with 21 additions and 28 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
gtsam/linear/Preconditioner.h
View File

@ -70,21 +70,20 @@ public:
Preconditioner() {}
virtual ~Preconditioner() {}
/* Computation Interfaces */
/*
* Abstract interface for raw vectors. VectorValues is a speed bottleneck
* and Yong-Dian has profiled preconditioners (outside GTSAM) with the the
* three methods below. In GTSAM, unfortunately, we are still using the
* VectorValues methods called in iterative-inl.h
*/
/* implement x = L^{-1} y */
/// implement x = L^{-1} y
virtual void solve(const Vector& y, Vector &x) const = 0;
// virtual void solve(const VectorValues& y, VectorValues &x) const = 0;
/* implement x = L^{-T} y */
/// implement x = L^{-T} y
virtual void transposeSolve(const Vector& y, Vector& x) const = 0;
// virtual void transposeSolve(const VectorValues& y, VectorValues &x) const = 0;
// /* implement x = L^{-1} L^{-T} y */
// virtual void fullSolve(const Vector& y, Vector &x) const = 0;
// virtual void fullSolve(const VectorValues& y, VectorValues &x) const = 0;
/* build/factorize the preconditioner */
/// build/factorize the preconditioner
virtual void build(
const GaussianFactorGraph &gfg,
const KeyInfo &info,
@ -113,14 +112,7 @@ public:
/* Computation Interfaces for raw vector */
virtual void solve(const Vector& y, Vector &x) const { x = y; }
// virtual void solve(const VectorValues& y, VectorValues& x) const { x = y; }
virtual void transposeSolve(const Vector& y, Vector& x) const { x = y; }
// virtual void transposeSolve(const VectorValues& y, VectorValues& x) const { x = y; }
// virtual void fullSolve(const Vector& y, Vector &x) const { x = y; }
// virtual void fullSolve(const VectorValues& y, VectorValues& x) const { x = y; }
virtual void build(
const GaussianFactorGraph &gfg,
const KeyInfo &info,
@ -145,8 +137,6 @@ public:
/* Computation Interfaces for raw vector */
virtual void solve(const Vector& y, Vector &x) const;
virtual void transposeSolve(const Vector& y, Vector& x) const ;
// virtual void fullSolve(const Vector& y, Vector &x) const ;
virtual void build(
const GaussianFactorGraph &gfg,
const KeyInfo &info,

21
gtsam/linear/SubgraphPreconditioner.h
View File

@ -285,15 +285,18 @@ namespace gtsam {
/*****************************************************************************/
/* implement virtual functions of Preconditioner */
/* Computation Interfaces for Vector */
virtual void solve(const Vector& y, Vector &x) const;
virtual void transposeSolve(const Vector& y, Vector& x) const ;
/// implement x = R^{-1} y
void solve(const Vector& y, Vector &x) const override;
virtual void build(
/// implement x = R^{-T} y
void transposeSolve(const Vector& y, Vector& x) const override;
/// build/factorize the preconditioner
void build(
const GaussianFactorGraph &gfg,
const KeyInfo &info,
const std::map<Key,Vector> &lambda
) ;
) override;
/*****************************************************************************/
};
@ -310,9 +313,9 @@ namespace gtsam {
/* sort the container and return permutation index with default comparator */
template <typename Container>
std::vector<size_t> sort_idx(const Container &src)
{
template <typename Container>
std::vector<size_t> sort_idx(const Container &src)
{
typedef typename Container::value_type T;
const size_t n = src.size() ;
std::vector<std::pair<size_t,T> > tmp;
@ -329,6 +332,6 @@ namespace gtsam {
idx.push_back(tmp[i].first) ;
}
return idx;
}
}
} // namespace gtsam