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improved docstrings

release/4.3a0
Varun Agrawal 2024-10-15 09:14:47 -04:00
parent ec8714a548
commit a0c0cd1fce
2 changed files with 7 additions and 5 deletions
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6
gtsam/linear/ConjugateGradientSolver.h
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@ -24,20 +24,22 @@
namespace gtsam { namespace gtsam {
/** /**
* parameters for the conjugate gradient method * Parameters for the Conjugate Gradient method
*/ */
class GTSAM_EXPORT ConjugateGradientParameters : public IterativeOptimizationParameters { class GTSAM_EXPORT ConjugateGradientParameters : public IterativeOptimizationParameters {
public: public:
typedef IterativeOptimizationParameters Base; typedef IterativeOptimizationParameters Base;
typedef std::shared_ptr<ConjugateGradientParameters> shared_ptr; typedef std::shared_ptr<ConjugateGradientParameters> shared_ptr;
protected:
size_t minIterations_; ///< minimum number of cg iterations size_t minIterations_; ///< minimum number of cg iterations
size_t maxIterations_; ///< maximum number of cg iterations size_t maxIterations_; ///< maximum number of cg iterations
size_t reset_; ///< number of iterations before reset size_t reset_; ///< number of iterations before reset
double epsilon_rel_; ///< threshold for relative error decrease double epsilon_rel_; ///< threshold for relative error decrease
double epsilon_abs_; ///< threshold for absolute error decrease double epsilon_abs_; ///< threshold for absolute error decrease
public:
/* Matrix Operation Kernel */ /* Matrix Operation Kernel */
enum BLASKernel { enum BLASKernel {
GTSAM = 0, ///< Jacobian Factor Graph of GTSAM GTSAM = 0, ///< Jacobian Factor Graph of GTSAM

6
gtsam/linear/PCGSolver.h
View File

@ -31,7 +31,7 @@ class VectorValues;
struct PreconditionerParameters; struct PreconditionerParameters;
/** /**
* Parameters for PCG * Parameters for Preconditioned Conjugate Gradient solver.
*/ */
struct GTSAM_EXPORT PCGSolverParameters: public ConjugateGradientParameters { struct GTSAM_EXPORT PCGSolverParameters: public ConjugateGradientParameters {
public: public:
@ -91,8 +91,8 @@ public:
* System class needed for calling preconditionedConjugateGradient * System class needed for calling preconditionedConjugateGradient
*/ */
class GTSAM_EXPORT GaussianFactorGraphSystem { class GTSAM_EXPORT GaussianFactorGraphSystem {
GaussianFactorGraph gfg_; const GaussianFactorGraph &gfg_;
Preconditioner preconditioner_; const Preconditioner &preconditioner_;
KeyInfo keyInfo_; KeyInfo keyInfo_;
std::map<Key, Vector> lambda_; std::map<Key, Vector> lambda_;