79 lines
2.8 KiB
C++
79 lines
2.8 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
#pragma once
|
|
|
|
#include <gtsam/linear/IterativeSolver.h>
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* parameters for the conjugate gradient method
|
|
*/
|
|
|
|
class ConjugateGradientParameters : public IterativeOptimizationParameters {
|
|
|
|
public:
|
|
|
|
typedef IterativeOptimizationParameters Base;
|
|
typedef boost::shared_ptr<ConjugateGradientParameters> shared_ptr;
|
|
|
|
size_t minIterations_; ///< minimum number of cg iterations
|
|
size_t maxIterations_; ///< maximum number of cg iterations
|
|
size_t reset_; ///< number of iterations before reset
|
|
double epsilon_rel_; ///< threshold for relative error decrease
|
|
double epsilon_abs_; ///< threshold for absolute error decrease
|
|
|
|
ConjugateGradientParameters()
|
|
: minIterations_(1), maxIterations_(500), reset_(501), epsilon_rel_(1e-3), epsilon_abs_(1e-3){}
|
|
|
|
ConjugateGradientParameters(size_t minIterations, size_t maxIterations, size_t reset, double epsilon_rel, double epsilon_abs)
|
|
: minIterations_(minIterations), maxIterations_(maxIterations), reset_(reset), epsilon_rel_(epsilon_rel), epsilon_abs_(epsilon_abs){}
|
|
|
|
ConjugateGradientParameters(const ConjugateGradientParameters &p)
|
|
: Base(p), minIterations_(p.minIterations_), maxIterations_(p.maxIterations_), reset_(p.reset_), epsilon_rel_(p.epsilon_rel_), epsilon_abs_(p.epsilon_abs_) {}
|
|
|
|
/* general interface */
|
|
inline size_t minIterations() const { return minIterations_; }
|
|
inline size_t maxIterations() const { return maxIterations_; }
|
|
inline size_t reset() const { return reset_; }
|
|
inline double epsilon() const { return epsilon_rel_; }
|
|
inline double epsilon_rel() const { return epsilon_rel_; }
|
|
inline double epsilon_abs() const { return epsilon_abs_; }
|
|
|
|
void print() const {
|
|
Base::print();
|
|
std::cout << "ConjugateGradientParameters: "
|
|
<< "minIter = " << minIterations_
|
|
<< ", maxIter = " << maxIterations_
|
|
<< ", resetIter = " << reset_
|
|
<< ", eps_rel = " << epsilon_rel_
|
|
<< ", eps_abs = " << epsilon_abs_
|
|
<< std::endl;
|
|
}
|
|
};
|
|
|
|
//class ConjugateGradientSolver : public IterativeSolver {
|
|
//
|
|
//public:
|
|
//
|
|
// typedef ConjugateGradientParameters Parameters;
|
|
//
|
|
// Parameters parameters_;
|
|
//
|
|
// ConjugateGradientSolver(const ConjugateGradientParameters ¶meters) : parameters_(parameters) {}
|
|
// virtual VectorValues::shared_ptr optimize () = 0;
|
|
// virtual const IterativeOptimizationParameters& _params() const = 0;
|
|
//};
|
|
|
|
|
|
}
|