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Removed EasyFactorGraph as it is no longer necessary

release/4.3a0
Alex Cunningham 2012-08-04 20:14:12 +00:00
parent 5629b07fd6
commit c5b2f6361a
2 changed files with 0 additions and 126 deletions
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57
gtsam/nonlinear/EasyFactorGraph.cpp
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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file EasyFactorGraph.cpp
* @brief Nonlinear Factor Graph class with methods defined for safe and easy access in MATLAB
* @date June 24, 2012
* @author Frank Dellaert
**/
#include <gtsam/nonlinear/EasyFactorGraph.h>
#include <gtsam/linear/SimpleSPCGSolver.h>
namespace gtsam {
EasyFactorGraph::EasyFactorGraph() {
}
EasyFactorGraph::EasyFactorGraph(const NonlinearFactorGraph& graph) :
NonlinearFactorGraph(graph) {
}
LevenbergMarquardtOptimizer EasyFactorGraph::optimizer(
const Values& initialEstimate, const LevenbergMarquardtParams& p) const {
return LevenbergMarquardtOptimizer((*this), initialEstimate, p);
}
Values EasyFactorGraph::optimize(const Values& initialEstimate,
size_t verbosity) const {
LevenbergMarquardtParams p;
p.verbosity = (NonlinearOptimizerParams::Verbosity) verbosity;
return optimizer(initialEstimate, p).optimizeSafely();
}
Values EasyFactorGraph::optimizeSPCG(const Values& initialEstimate,
size_t verbosity) const {
LevenbergMarquardtParams p;
p.verbosity = (NonlinearOptimizerParams::Verbosity) verbosity;
p.linearSolverType = SuccessiveLinearizationParams::CONJUGATE_GRADIENT;
p.iterativeParams = boost::make_shared<SimpleSPCGSolverParameters>();
return optimizer(initialEstimate, p).optimizeSafely();
}
Marginals EasyFactorGraph::marginals(const Values& solution) const {
return Marginals(*this, solution);
}
} // namespace gtsam

69
gtsam/nonlinear/EasyFactorGraph.h
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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file EasyFactorGraph.h
* @brief Nonlinear Factor Graph class with methods defined for safe and easy access in MATLAB
* @date June 24, 2012
* @author Frank Dellaert
**/
#pragma once
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
namespace gtsam {
/**
* Nonlinear Factor Graph class with methods defined for safe and easy access in MATLAB
*/
struct EasyFactorGraph: public NonlinearFactorGraph {
/// Default constructor for a NonlinearFactorGraph
EasyFactorGraph();
/// Creates a NonlinearFactorGraph based on another NonlinearFactorGraph
EasyFactorGraph(const NonlinearFactorGraph& graph);
/**
* Setup and return a LevenbargMarquardtOptimizer
* @param initialEstimate initial estimate of all variables in the graph
* @param p optimizer's parameters
* @return a LevenbergMarquardtOptimizer object, which you can use to control the optimization process
*/
LevenbergMarquardtOptimizer optimizer(const Values& initialEstimate,
const LevenbergMarquardtParams& p = LevenbergMarquardtParams()) const;
/**
* Safely optimize the graph, using Levenberg-Marquardt
* @param initialEstimate initial estimate of all variables in the graph
* @param verbosity unsigned specifying verbosity level
*/
Values optimize(const Values& initialEstimate, size_t verbosity = 0) const;
/**
* Safely optimize using subgraph preconditioning
* @param initialEstimate initial estimate of all variables in the graph
* @param verbosity unsigned specifying verbosity level
*/
Values optimizeSPCG(const Values& initialEstimate, size_t verbosity = 0) const;
/**
* Return a Marginals object, so you can query marginals
*/
Marginals marginals(const Values& solution) const;
};
} // namespace gtsam