72 lines
2.7 KiB
C++
72 lines
2.7 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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/**
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* @file iterative.cpp
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* @brief Iterative methods, implementation
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* @author Frank Dellaert
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* @date Dec 28, 2009
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*/
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#include <gtsam_unstable/linear/iterative-inl.h>
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#include <gtsam/base/Vector.h>
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#include <gtsam/base/Matrix.h>
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#include <gtsam/linear/GaussianFactorGraph.h>
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#include <gtsam/linear/IterativeOptimizationParameters.h>
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#include <iostream>
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using namespace std;
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namespace gtsam {
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/* ************************************************************************* */
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void System::print (const string& s) const {
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cout << s << endl;
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gtsam::print(A_, "A");
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gtsam::print(b_, "b");
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}
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/* ************************************************************************* */
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Vector steepestDescent(const System& Ab, const Vector& x, const IterativeOptimizationParameters & parameters) {
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return conjugateGradients<System, Vector, Vector> (Ab, x, parameters, true);
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}
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Vector conjugateGradientDescent(const System& Ab, const Vector& x, const IterativeOptimizationParameters & parameters) {
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return conjugateGradients<System, Vector, Vector> (Ab, x, parameters);
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}
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/* ************************************************************************* */
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Vector steepestDescent(const Matrix& A, const Vector& b, const Vector& x, const IterativeOptimizationParameters & parameters) {
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System Ab(A, b);
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return conjugateGradients<System, Vector, Vector> (Ab, x, parameters, true);
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}
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Vector conjugateGradientDescent(const Matrix& A, const Vector& b, const Vector& x, const IterativeOptimizationParameters & parameters) {
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System Ab(A, b);
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return conjugateGradients<System, Vector, Vector> (Ab, x, parameters);
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}
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/* ************************************************************************* */
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VectorValues steepestDescent(const FactorGraph<JacobianFactor>& fg, const VectorValues& x, const IterativeOptimizationParameters & parameters) {
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return conjugateGradients<FactorGraph<JacobianFactor>, VectorValues, Errors> (fg, x, parameters, true);
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}
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VectorValues conjugateGradientDescent(const FactorGraph<JacobianFactor>& fg, const VectorValues& x, const IterativeOptimizationParameters & parameters) {
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return conjugateGradients<FactorGraph<JacobianFactor>, VectorValues, Errors> (fg, x, parameters);
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}
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/* ************************************************************************* */
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} // namespace gtsam
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