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move blas_kernel_ up

release/4.3a0
Yong-Dian Jian 2014-06-04 23:23:17 -04:00
parent a0c77dcc1c
commit c844ab19e3
3 changed files with 66 additions and 20 deletions
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47
gtsam/linear/ConjugateGradientSolver.cpp Normal file
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@ -0,0 +1,47 @@
/*
* ConjugateGradientSolver.cpp
*
* Created on: Jun 4, 2014
* Author: ydjian
*/
#include <gtsam/linear/ConjugateGradientSolver.h>
#include <iostream>
namespace gtsam {
/*****************************************************************************/
std::string ConjugateGradientParameters::blasTranslator(const BLASKernel value) {
std::string s;
switch (value) {
case ConjugateGradientParameters::GTSAM: s = "GTSAM" ; break;
default: s = "UNDEFINED" ; break;
}
return s;
}
/*****************************************************************************/
ConjugateGradientParameters::BLASKernel ConjugateGradientParameters::blasTranslator(const std::string &src) {
std::string s = src; boost::algorithm::to_upper(s);
if (s == "GTSAM") return ConjugateGradientParameters::GTSAM;
/* default is SBM */
return ConjugateGradientParameters::GTSAM;
}
/*****************************************************************************/
/*****************************************************************************/
void ConjugateGradientParameters::print() const {
Base::print();
std::cout << "ConjugateGradientParameters" << std::endl
<< "minIter: " << minIterations_ << std::endl
<< "maxIter: " << maxIterations_ << std::endl
<< "resetIter: " << reset_ << std::endl
<< "eps_rel: " << epsilon_rel_ << std::endl
<< "eps_abs: " << epsilon_abs_ << std::endl;
}
}

33
gtsam/linear/ConjugateGradientSolver.h
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@ -20,6 +20,7 @@ namespace gtsam {
*/
class ConjugateGradientParameters : public IterativeOptimizationParameters {
public:
typedef IterativeOptimizationParameters Base;
typedef boost::shared_ptr<ConjugateGradientParameters> shared_ptr;
@ -30,14 +31,23 @@ public:
double epsilon_rel_; ///< threshold for relative error decrease
double epsilon_abs_; ///< threshold for absolute error decrease
ConjugateGradientParameters()
: minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3){}
/* Matrix Operation Kernel */
enum BLASKernel {
GTSAM = 0, ///< Jacobian Factor Graph of GTSAM
} blas_kernel_ ;
ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, double epsilon_rel, double epsilon_abs)
: minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs){}
ConjugateGradientParameters()
: minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3),
epsilon_abs_(1e-3), blas_kernel_(GTSAM) {}
ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset,
double epsilon_rel, double epsilon_abs, BLASKernel blas)
: minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset),
epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs), blas_kernel_(blas) {}
ConjugateGradientParameters(const ConjugateGradientParameters &p)
: Base(p), minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_) {}
: Base(p), minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_),
epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_), blas_kernel_(GTSAM) {}
/* general interface */
inline size_t minIterations() const { return minIterations_; }
@ -61,15 +71,10 @@ public:
inline void setEpsilon_rel(double value) { epsilon_rel_ = value; }
inline void setEpsilon_abs(double value) { epsilon_abs_ = value; }
virtual void print() const {
Base::print();
std::cout << "ConjugateGradientParameters" << std::endl
<< "minIter: " << minIterations_ << std::endl
<< "maxIter: " << maxIterations_ << std::endl
<< "resetIter: " << reset_ << std::endl
<< "eps_rel: " << epsilon_rel_ << std::endl
<< "eps_abs: " << epsilon_abs_ << std::endl;
}
static std::string blasTranslator(const BLASKernel k) ;
static BLASKernel blasTranslator(const std::string &s) ;
virtual void print() const;
};
}

6
gtsam/linear/IterativeSolver.h
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@ -14,7 +14,6 @@
#include <gtsam/global_includes.h>
#include <string>
#include <iostream>
namespace gtsam {
@ -46,9 +45,7 @@ namespace gtsam {
inline Verbosity verbosity() const { return verbosity_; }
/* matlab interface */
std::string getKernel() const ;
std::string getVerbosity() const;
void setKernel(const std::string &s) ;
void setVerbosity(const std::string &s) ;
virtual void print() const ;
@ -68,9 +65,6 @@ namespace gtsam {
/* interface to the nonlinear optimizer */
virtual VectorValues optimize (const VectorValues &initial) = 0;
/* update interface to the nonlinear optimizer */
virtual void replaceFactors(const boost::shared_ptr<GaussianFactorGraph> &factorGraph, const double lambda) {}
};
}