76 lines
2.3 KiB
C++
76 lines
2.3 KiB
C++
/*
|
|
* SubgraphSolver.h
|
|
* Created on: Dec 31, 2009
|
|
* @author: Frank Dellaert
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/linear/GaussianFactorGraph.h>
|
|
#include <gtsam/linear/GaussianBayesNet.h>
|
|
#include <gtsam/inference/Ordering.h>
|
|
#include <gtsam/linear/SubgraphPreconditioner.h>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* A nonlinear system solver using subgraph preconditioning conjugate gradient
|
|
* Concept NonLinearSolver<G,T,L> implements
|
|
* linearize: G * T -> L
|
|
* solve : L -> VectorValues
|
|
*/
|
|
template<class Graph, class Values>
|
|
class SubgraphSolver {
|
|
|
|
private:
|
|
typedef typename Values::Key Key;
|
|
typedef typename Graph::Constraint Constraint;
|
|
typedef typename Graph::Pose Pose;
|
|
|
|
// TODO not hardcode
|
|
static const size_t maxIterations_=100;
|
|
static const bool verbose_=false;
|
|
static const double epsilon_=1e-4, epsilon_abs_=1e-5;
|
|
|
|
/* the ordering derived from the spanning tree */
|
|
boost::shared_ptr<Ordering> ordering_;
|
|
|
|
/* the solution computed from the first subgraph */
|
|
boost::shared_ptr<Values> theta_bar_;
|
|
|
|
Graph T_, C_;
|
|
|
|
public:
|
|
SubgraphSolver() {}
|
|
|
|
SubgraphSolver(const Graph& G, const Values& theta0);
|
|
|
|
void initialize(const Graph& G, const Values& theta0);
|
|
|
|
boost::shared_ptr<Ordering> ordering() const { return ordering_; }
|
|
|
|
boost::shared_ptr<Values> theta_bar() const { return theta_bar_; }
|
|
|
|
/**
|
|
* linearize the non-linear graph around the current config and build the subgraph preconditioner systme
|
|
*/
|
|
boost::shared_ptr<SubgraphPreconditioner> linearize(const Graph& G, const Values& theta_bar) const;
|
|
|
|
/**
|
|
* solve for the optimal displacement in the tangent space, and then solve
|
|
* the resulted linear system
|
|
*/
|
|
VectorValues optimize(SubgraphPreconditioner& system) const;
|
|
|
|
boost::shared_ptr<SubgraphSolver> prepareLinear(const SubgraphPreconditioner& fg) const {
|
|
return boost::shared_ptr<SubgraphSolver>(new SubgraphSolver(*this));
|
|
}
|
|
};
|
|
|
|
template<class Graph, class Values> const size_t SubgraphSolver<Graph,Values>::maxIterations_;
|
|
template<class Graph, class Values> const bool SubgraphSolver<Graph,Values>::verbose_;
|
|
template<class Graph, class Values> const double SubgraphSolver<Graph,Values>::epsilon_;
|
|
template<class Graph, class Values> const double SubgraphSolver<Graph,Values>::epsilon_abs_;
|
|
|
|
} // nsamespace gtsam
|