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

Linearize can now be overwritten

release/4.3a0
Frank Dellaert 2013-10-28 17:35:14 +00:00
parent 194cae51ef
commit cfe9b9c52c
2 changed files with 9 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
View File

@ -68,13 +68,18 @@ void LevenbergMarquardtParams::print(const std::string& str) const {
std::cout.flush();
}
/* ************************************************************************* */
GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::linearize() const {
return graph_.linearize(state_.values);
}
/* ************************************************************************* */
void LevenbergMarquardtOptimizer::iterate() {
gttic(LM_iterate);
// Linearize graph
GaussianFactorGraph::shared_ptr linear = graph_.linearize(state_.values);
GaussianFactorGraph::shared_ptr linear = linearize();
// Pull out parameters we'll use
const NonlinearOptimizerParams::Verbosity nloVerbosity = params_.verbosity;

3
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
View File

@ -177,6 +177,9 @@ protected:
/** Internal function for computing a COLAMD ordering if no ordering is specified */
LevenbergMarquardtParams ensureHasOrdering(LevenbergMarquardtParams params, const NonlinearFactorGraph& graph) const;
/** linearize, can be overwritten */
virtual GaussianFactorGraph::shared_ptr linearize() const;
};
}