58 lines
1.5 KiB
C++
58 lines
1.5 KiB
C++
/**
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* @file Factorization
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* @brief Template Linear solver class that uses a Gaussian Factor Graph
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* @author Kai Ni
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* @author Frank Dellaert
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*/
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// $Id: GaussianFactorGraph.h,v 1.24 2009/08/14 20:48:51 acunning Exp $
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#pragma once
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#include <stdexcept>
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#include "GaussianFactorGraph.h"
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namespace gtsam {
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class Ordering;
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/**
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* A linear system solver using factorization
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*/
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template <class NonlinearGraph, class Config>
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class Factorization {
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private:
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boost::shared_ptr<const Ordering> ordering_;
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bool useOldEliminate_;
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public:
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Factorization(boost::shared_ptr<const Ordering> ordering, bool old=true)
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: ordering_(ordering), useOldEliminate_(old) {
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if (!ordering) throw std::invalid_argument("Factorization constructor: ordering = NULL");
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}
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/**
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* solve for the optimal displacement in the tangent space, and then solve
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* the resulted linear system
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*/
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VectorConfig optimize(GaussianFactorGraph& fg) const {
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return fg.optimize(*ordering_, useOldEliminate_);
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}
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/**
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* linearize the non-linear graph around the current config
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*/
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boost::shared_ptr<GaussianFactorGraph> linearize(const NonlinearGraph& g, const Config& config) const {
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return g.linearize(config);
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}
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/**
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* Does not do anything here in Factorization.
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*/
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boost::shared_ptr<Factorization> prepareLinear(const GaussianFactorGraph& fg) const {
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return boost::shared_ptr<Factorization>(new Factorization(*this));
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}
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};
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}
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