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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
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7
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -68,13 +68,18 @@ void LevenbergMarquardtParams::print(const std::string& str) const {
std::cout.flush(); std::cout.flush();
} }
/* ************************************************************************* */
GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::linearize() const {
return graph_.linearize(state_.values);
}
/* ************************************************************************* */ /* ************************************************************************* */
void LevenbergMarquardtOptimizer::iterate() { void LevenbergMarquardtOptimizer::iterate() {
gttic(LM_iterate); gttic(LM_iterate);
// Linearize graph // Linearize graph
GaussianFactorGraph::shared_ptr linear = graph_.linearize(state_.values); GaussianFactorGraph::shared_ptr linear = linearize();
// Pull out parameters we'll use // Pull out parameters we'll use
const NonlinearOptimizerParams::Verbosity nloVerbosity = params_.verbosity; const NonlinearOptimizerParams::Verbosity nloVerbosity = params_.verbosity;

3
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
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@ -177,6 +177,9 @@ protected:
/** Internal function for computing a COLAMD ordering if no ordering is specified */ /** Internal function for computing a COLAMD ordering if no ordering is specified */
LevenbergMarquardtParams ensureHasOrdering(LevenbergMarquardtParams params, const NonlinearFactorGraph& graph) const; LevenbergMarquardtParams ensureHasOrdering(LevenbergMarquardtParams params, const NonlinearFactorGraph& graph) const;
/** linearize, can be overwritten */
virtual GaussianFactorGraph::shared_ptr linearize() const;
}; };
} }