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release/4.3a0
Yong-Dian Jian 2012-06-03 15:07:10 +00:00
parent 7d132ef217
commit 26f1f3fa4f
2 changed files with 4 additions and 2 deletions
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3
gtsam/linear/SimpleSPCGSolver.cpp
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@ -49,7 +49,8 @@ SimpleSPCGSolver::SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Paramet
nVar_ = colSpec.size(); nVar_ = colSpec.size();
/* split the factor graph into At (tree) and Ac (constraints) */ /* Split the factor graph into At (tree) and Ac (constraints)
* Note: This part has to be refined for your graph/application */
GaussianFactorGraph::shared_ptr At; GaussianFactorGraph::shared_ptr At;
boost::tie(At, Ac_) = this->splitGraph(gfg); boost::tie(At, Ac_) = this->splitGraph(gfg);

3
gtsam/linear/SimpleSPCGSolver.h
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@ -78,7 +78,8 @@ protected:
/* return x = Rt^{-1} y + x_t */ /* return x = Rt^{-1} y + x_t */
VectorValues::shared_ptr transform(const VectorValues &y); VectorValues::shared_ptr transform(const VectorValues &y);
/* naively split a gaussian factor graph into tree and constraint parts */ /* naively split a gaussian factor graph into tree and constraint parts
* Note: This function has to be refined for your graph/application */
boost::tuple<GaussianFactorGraph::shared_ptr, FactorGraph<JacobianFactor>::shared_ptr> boost::tuple<GaussianFactorGraph::shared_ptr, FactorGraph<JacobianFactor>::shared_ptr>
splitGraph(const GaussianFactorGraph &gfg); splitGraph(const GaussianFactorGraph &gfg);