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Formatting changes

release/4.3a0
Andrew Melim 2014-11-17 11:31:11 -05:00
parent c520bf2b47
commit f00f8d1d7a
5 changed files with 66 additions and 68 deletions
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15
gtsam/inference/MetisIndex.h
View File

@ -9,7 +9,6 @@
* -------------------------------------------------------------------------- */ * -------------------------------------------------------------------------- */
/** /**
* @file MetisIndex.h * @file MetisIndex.h
* @author Andrew Melim * @author Andrew Melim
@ -28,26 +27,26 @@
#include <gtsam/inference/FactorGraph.h> #include <gtsam/inference/FactorGraph.h>
namespace gtsam { namespace gtsam {
/** /**
* The MetisIndex class converts a factor graph into the Compressed Sparse Row format for use in * The MetisIndex class converts a factor graph into the Compressed Sparse Row format for use in
* METIS algorithms. Specifically, two vectors store the adjacency structure of the graph. It is built * METIS algorithms. Specifically, two vectors store the adjacency structure of the graph. It is built
* fromt a factor graph prior to elimination, and stores the list of factors * fromt a factor graph prior to elimination, and stores the list of factors
* that involve each variable. * that involve each variable.
* \nosubgrouping * \nosubgrouping
*/ */
class GTSAM_EXPORT MetisIndex class GTSAM_EXPORT MetisIndex
{ {
public: public:
typedef boost::shared_ptr<MetisIndex> shared_ptr; typedef boost::shared_ptr<MetisIndex> shared_ptr;
private: private:
FastVector<int> xadj_; // Index of node's adjacency list in adj FastVector<int> xadj_; // Index of node's adjacency list in adj
FastVector<int> adj_; // Stores ajacency lists of all nodes, appended into a single vector FastVector<int> adj_; // Stores ajacency lists of all nodes, appended into a single vector
size_t nFactors_; // Number of factors in the original factor graph size_t nFactors_; // Number of factors in the original factor graph
size_t nKeys_; // size_t nKeys_; //
size_t minKey_; size_t minKey_;
public: public:
/// @name Standard Constructors /// @name Standard Constructors
/// @{ /// @{
@ -76,7 +75,7 @@ namespace gtsam {
size_t minKey() const { return minKey_; } size_t minKey() const { return minKey_; }
/// @} /// @}
}; };
} }

3
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -340,11 +340,12 @@ void LevenbergMarquardtOptimizer::iterate() {
/* ************************************************************************* */ /* ************************************************************************* */
LevenbergMarquardtParams LevenbergMarquardtOptimizer::ensureHasOrdering( LevenbergMarquardtParams LevenbergMarquardtOptimizer::ensureHasOrdering(
LevenbergMarquardtParams params, const NonlinearFactorGraph& graph) const { LevenbergMarquardtParams params, const NonlinearFactorGraph& graph) const {
if (!params.ordering) if (!params.ordering){
if (params.orderingType = Ordering::Type::METIS_) if (params.orderingType = Ordering::Type::METIS_)
params.ordering = Ordering::METIS(graph); params.ordering = Ordering::METIS(graph);
else else
params.ordering = Ordering::COLAMD(graph); params.ordering = Ordering::COLAMD(graph);
}
return params; return params;
} }

6
gtsam/nonlinear/NonlinearOptimizerParams.cpp
View File

@ -165,8 +165,7 @@ NonlinearOptimizerParams::LinearSolverType NonlinearOptimizerParams::linearSolve
} }
/* ************************************************************************* */ /* ************************************************************************* */
std::string NonlinearOptimizerParams::orderingTypeTranslator(Ordering::Type type) const std::string NonlinearOptimizerParams::orderingTypeTranslator(Ordering::Type type) const{
{
switch (type) { switch (type) {
case Ordering::Type::METIS_: case Ordering::Type::METIS_:
return "METIS"; return "METIS";
@ -182,8 +181,7 @@ std::string NonlinearOptimizerParams::orderingTypeTranslator(Ordering::Type type
} }
/* ************************************************************************* */ /* ************************************************************************* */
Ordering::Type NonlinearOptimizerParams::orderingTypeTranslator(const std::string& type) const Ordering::Type NonlinearOptimizerParams::orderingTypeTranslator(const std::string& type) const{
{
if (type == "METIS") if (type == "METIS")
return Ordering::Type::METIS_; return Ordering::Type::METIS_;
if (type == "COLAMD") if (type == "COLAMD")