58 lines
1.4 KiB
C++
58 lines
1.4 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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#pragma once
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#include <gtsam/linear/ConjugateGradientSolver.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <gtsam/linear/SubgraphPreconditioner.h>
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#include <boost/make_shared.hpp>
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namespace gtsam {
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class SubgraphSolverParameters : public ConjugateGradientParameters {
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public:
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typedef ConjugateGradientParameters Base;
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SubgraphSolverParameters() : Base() {}
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};
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/**
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* A linear system solver using subgraph preconditioning conjugate gradient
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*/
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class SubgraphSolver : public IterativeSolver {
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public:
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typedef SubgraphSolverParameters Parameters;
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protected:
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Parameters parameters_;
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SubgraphPreconditioner::shared_ptr pc_; ///< preconditioner object
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public:
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SubgraphSolver(const GaussianFactorGraph &gfg, const Parameters ¶meters);
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virtual ~SubgraphSolver() {}
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virtual VectorValues optimize () ;
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protected:
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boost::tuple<GaussianFactorGraph::shared_ptr, GaussianFactorGraph::shared_ptr>
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splitGraph(const GaussianFactorGraph &gfg) ;
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};
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} // namespace gtsam
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