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gradientDescent_ and conjugateGradientDescent_ works in matlab

release/4.3a0
Viorela Ila 2009-12-13 03:02:14 +00:00
parent ca34a6ef65
commit d5d70d7751
3 changed files with 24 additions and 1 deletions
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14
cpp/GaussianFactorGraph.cpp
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@ -292,3 +292,17 @@ VectorConfig GaussianFactorGraph::conjugateGradientDescent(
}
/* ************************************************************************* */
/* ************************************************************************* */
boost::shared_ptr<VectorConfig>
GaussianFactorGraph::gradientDescent_(const VectorConfig& x0) const {
return boost::shared_ptr<VectorConfig>(new VectorConfig(gradientDescent(x0)));
}
/* ************************************************************************* */
boost::shared_ptr<VectorConfig>
GaussianFactorGraph::conjugateGradientDescent_(const VectorConfig& x0) const {
return boost::shared_ptr<VectorConfig>(new VectorConfig(conjugateGradientDescent(x0)));
}
/* ************************************************************************* */

9
cpp/GaussianFactorGraph.h
View File

@ -187,13 +187,20 @@ namespace gtsam {
* @return solution
*/
VectorConfig gradientDescent(const VectorConfig& x0) const;
/**
* shared pointer versions for MATLAB
*/
boost::shared_ptr<VectorConfig>gradientDescent_(const VectorConfig& x0) const;
/**
* Find solution using conjugate gradient descent
* @param x0: VectorConfig specifying initial estimate
* @return solution
*/
VectorConfig conjugateGradientDescent(const VectorConfig& x0) const;
/**
* shared pointer versions for MATLAB
*/
boost::shared_ptr<VectorConfig> conjugateGradientDescent_(const VectorConfig& x0) const;
};
}

2
cpp/gtsam.h
View File

@ -106,6 +106,8 @@ class GaussianFactorGraph {
VectorConfig* optimize_(const Ordering& ordering);
pair<Matrix,Vector> matrix(const Ordering& ordering) const;
Matrix sparse(const Ordering& ordering) const;
VectorConfig* gradientDescent_(const VectorConfig& x0) const;
VectorConfig* conjugateGradientDescent_(const VectorConfig& x0) const;
};
class Point2 {