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release/4.3a0
Yong-Dian Jian 2012-05-27 18:26:25 +00:00
parent 0d597082f2
commit b0c91d2fcf
4 changed files with 22 additions and 8 deletions
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2
gtsam/nonlinear/DoglegOptimizer.cpp
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@ -48,7 +48,7 @@ void DoglegOptimizer::iterate(void) {
GaussianBayesNet::shared_ptr bn = EliminationTree<GaussianFactor>::Create(*linear)->eliminate(params_.getEliminationFunction()); GaussianBayesNet::shared_ptr bn = EliminationTree<GaussianFactor>::Create(*linear)->eliminate(params_.getEliminationFunction());
result = DoglegOptimizerImpl::Iterate(state_.Delta, DoglegOptimizerImpl::ONE_STEP_PER_ITERATION, *bn, graph_, state_.values, ordering, state_.error, dlVerbose); result = DoglegOptimizerImpl::Iterate(state_.Delta, DoglegOptimizerImpl::ONE_STEP_PER_ITERATION, *bn, graph_, state_.values, ordering, state_.error, dlVerbose);
} }
else if ( params_.isSPCG() ) { else if ( params_.isCG() ) {
throw runtime_error("todo: "); throw runtime_error("todo: ");
} }
else { else {

2
gtsam/nonlinear/GaussNewtonOptimizer.cpp
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@ -41,7 +41,7 @@ void GaussNewtonOptimizer::iterate() {
else if ( params_.isSequential() ) { else if ( params_.isSequential() ) {
delta = gtsam::optimize(*EliminationTree<GaussianFactor>::Create(*linear)->eliminate(params_.getEliminationFunction())); delta = gtsam::optimize(*EliminationTree<GaussianFactor>::Create(*linear)->eliminate(params_.getEliminationFunction()));
} }
else if ( params_.isSPCG() ) { else if ( params_.isCG() ) {
throw runtime_error("todo: "); throw runtime_error("todo: ");
} }
else { else {

2
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -70,7 +70,7 @@ void LevenbergMarquardtOptimizer::iterate() {
else if ( params_.isSequential() ) { else if ( params_.isSequential() ) {
delta = gtsam::optimize(*EliminationTree<GaussianFactor>::Create(dampedSystem)->eliminate(params_.getEliminationFunction())); delta = gtsam::optimize(*EliminationTree<GaussianFactor>::Create(dampedSystem)->eliminate(params_.getEliminationFunction()));
} }
else if ( params_.isSPCG() ) { else if ( params_.isCG() ) {
throw runtime_error("todo: "); throw runtime_error("todo: ");
} }
else { else {

24
gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
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@ -19,6 +19,7 @@
#pragma once #pragma once
#include <gtsam/nonlinear/NonlinearOptimizer.h> #include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/linear/IterativeOptimizationParameters.h>
namespace gtsam { namespace gtsam {
@ -30,11 +31,14 @@ public:
MULTIFRONTAL_QR, MULTIFRONTAL_QR,
SEQUENTIAL_CHOLESKY, SEQUENTIAL_CHOLESKY,
SEQUENTIAL_QR, SEQUENTIAL_QR,
SPCG CHOLMOD, /* Experimental Flag */
PCG, /* Experimental Flag */
LSPCG /* Experimental Flag */
}; };
LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer
boost::optional<Ordering> ordering; ///< The variable elimination ordering, or empty to use COLAMD (default: empty) boost::optional<Ordering> ordering; ///< The variable elimination ordering, or empty to use COLAMD (default: empty)
boost::optional<IterativeOptimizationParameters::shared_ptr> iterativeParams; ///< The container for iterativeOptimization parameters.
SuccessiveLinearizationParams() : linearSolverType(MULTIFRONTAL_CHOLESKY) {} SuccessiveLinearizationParams() : linearSolverType(MULTIFRONTAL_CHOLESKY) {}
@ -55,8 +59,14 @@ public:
case SEQUENTIAL_QR: case SEQUENTIAL_QR:
std::cout << " linear solver type: SEQUENTIAL QR\n"; std::cout << " linear solver type: SEQUENTIAL QR\n";
break; break;
case SPCG: case CHOLMOD:
std::cout << " linear solver type: SPCG\n"; std::cout << " linear solver type: CHOLMOD\n";
break;
case PCG:
std::cout << " linear solver type: PCG\n";
break;
case LSPCG:
std::cout << " linear solver type: LSPCG\n";
break; break;
default: default:
std::cout << " linear solver type: (invalid)\n"; std::cout << " linear solver type: (invalid)\n";
@ -79,8 +89,12 @@ public:
return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR); return (linearSolverType == SEQUENTIAL_CHOLESKY) || (linearSolverType == SEQUENTIAL_QR);
} }
inline bool isSPCG() const { inline bool isCholmod() const {
return (linearSolverType == SPCG); return (linearSolverType == CHOLMOD);
}
inline bool isCG() const {
return (linearSolverType == PCG || linearSolverType == LSPCG);
} }
GaussianFactorGraph::Eliminate getEliminationFunction() { GaussianFactorGraph::Eliminate getEliminationFunction() {