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

update the optimize interface

release/4.3a0
Yong-Dian Jian 2012-09-24 21:05:37 +00:00
parent 6284312a5c
commit e3aaeedbf2
3 changed files with 10 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/linear/IterativeSolver.h
View File

@ -68,6 +68,10 @@ namespace gtsam {
/* interface to the nonlinear optimizer */ /* interface to the nonlinear optimizer */
virtual VectorValues optimize () = 0; virtual VectorValues optimize () = 0;
/* interface to the nonlinear optimizer */
virtual VectorValues optimize (const VectorValues &initial) = 0;
/* update interface to the nonlinear optimizer */ /* update interface to the nonlinear optimizer */
virtual void replaceFactors(const GaussianFactorGraph::shared_ptr &factorGraph, const double lambda) {} virtual void replaceFactors(const GaussianFactorGraph::shared_ptr &factorGraph, const double lambda) {}
}; };

5
gtsam/linear/SubgraphSolver.cpp
View File

@ -78,6 +78,11 @@ VectorValues SubgraphSolver::optimize() {
return pc_->x(ybar); return pc_->x(ybar);
} }
VectorValues SubgraphSolver::optimize(const VectorValues &initial) {
// the initial is ignored in this case ...
return optimize();
}
void SubgraphSolver::initialize(const GaussianFactorGraph &jfg) void SubgraphSolver::initialize(const GaussianFactorGraph &jfg)
{ {
GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared<GaussianFactorGraph>(), GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared<GaussianFactorGraph>(),

1
gtsam/linear/SubgraphSolver.h
View File

@ -72,6 +72,7 @@ public:
virtual ~SubgraphSolver() {} virtual ~SubgraphSolver() {}
virtual VectorValues optimize () ; virtual VectorValues optimize () ;
virtual VectorValues optimize (const VectorValues &initial) ;
protected: protected: