69 lines
2.5 KiB
C++
69 lines
2.5 KiB
C++
/*
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* iterative.cpp
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* @brief Iterative methods, implementation
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* @author Frank Dellaert
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* Created on: Dec 28, 2009
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*/
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#include <iostream>
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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/iterative-inl.h>
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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, bool verbose,
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double epsilon, double epsilon_abs, size_t maxIterations) {
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return conjugateGradients<System, Vector, Vector> (Ab, x, verbose, epsilon,
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epsilon_abs, maxIterations, true);
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}
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Vector conjugateGradientDescent(const System& Ab, const Vector& x,
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bool verbose, double epsilon, double epsilon_abs, size_t maxIterations) {
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return conjugateGradients<System, Vector, Vector> (Ab, x, verbose, epsilon,
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epsilon_abs, maxIterations);
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}
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/* ************************************************************************* */
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Vector steepestDescent(const Matrix& A, const Vector& b, const Vector& x,
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bool verbose, double epsilon, double epsilon_abs, size_t maxIterations) {
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System Ab(A, b);
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return conjugateGradients<System, Vector, Vector> (Ab, x, verbose, epsilon,
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epsilon_abs, maxIterations, true);
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}
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Vector conjugateGradientDescent(const Matrix& A, const Vector& b,
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const Vector& x, bool verbose, double epsilon, double epsilon_abs, size_t maxIterations) {
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System Ab(A, b);
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return conjugateGradients<System, Vector, Vector> (Ab, x, verbose, epsilon,
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epsilon_abs, maxIterations);
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}
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/* ************************************************************************* */
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VectorConfig steepestDescent(const GaussianFactorGraph& fg,
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const VectorConfig& x, bool verbose, double epsilon, double epsilon_abs, size_t maxIterations) {
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return conjugateGradients<GaussianFactorGraph, VectorConfig, Errors> (fg,
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x, verbose, epsilon, epsilon_abs, maxIterations, true);
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}
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VectorConfig conjugateGradientDescent(const GaussianFactorGraph& fg,
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const VectorConfig& x, bool verbose, double epsilon, double epsilon_abs, size_t maxIterations) {
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return conjugateGradients<GaussianFactorGraph, VectorConfig, Errors> (fg,
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x, verbose, epsilon, epsilon_abs, maxIterations);
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}
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/* ************************************************************************* */
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} // namespace gtsam
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