72 lines
2.0 KiB
C++
72 lines
2.0 KiB
C++
/*
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* SubgraphSolver.h
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* Created on: Dec 31, 2009
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* @author: Frank Dellaert
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*/
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#pragma once
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#include "GaussianFactorGraph.h"
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#include "GaussianBayesNet.h"
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#include "Ordering.h"
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#include "SubgraphPreconditioner.h"
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namespace gtsam {
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/**
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* A nonlinear system solver using subgraph preconditioning conjugate gradient
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* Concept NonLinearSolver<G,T,L> implements
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* linearize: G * T -> L
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* solve : L -> VectorConfig
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*/
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template<class Graph, class Config>
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class SubgraphSolver {
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private:
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typedef typename Config::Key Key;
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typedef typename Graph::Constraint Constraint;
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typedef typename Graph::Pose Pose;
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// TODO not hardcode
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static const size_t maxIterations_=100;
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static const bool verbose_=false;
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static const double epsilon_=1e-4, epsilon_abs_=1e-5;
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/* the ordering derived from the spanning tree */
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boost::shared_ptr<Ordering> ordering_;
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/* the solution computed from the first subgraph */
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boost::shared_ptr<Config> theta_bar_;
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Graph T_, C_;
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public:
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SubgraphSolver() {}
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SubgraphSolver(const Graph& G, const Config& theta0);
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void initialize(const Graph& G, const Config& theta0);
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boost::shared_ptr<Ordering> ordering() const { return ordering_; }
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boost::shared_ptr<Config> theta_bar() const { return theta_bar_; }
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/**
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* linearize the non-linear graph around the current config and build the subgraph preconditioner systme
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*/
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boost::shared_ptr<SubgraphPreconditioner> linearize(const Graph& G, const Config& theta_bar) const;
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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(SubgraphPreconditioner& system) const;
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};
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template<class Graph, class Config> const size_t SubgraphSolver<Graph,Config>::maxIterations_;
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template<class Graph, class Config> const bool SubgraphSolver<Graph,Config>::verbose_;
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template<class Graph, class Config> const double SubgraphSolver<Graph,Config>::epsilon_;
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template<class Graph, class Config> const double SubgraphSolver<Graph,Config>::epsilon_abs_;
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} // nsamespace gtsam
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