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remove unnecessary typedefs

release/4.3a0
Varun Agrawal 2024-10-15 09:59:16 -04:00
parent a0c0cd1fce
commit a94169a973
2 changed files with 23 additions and 22 deletions
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22
gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp
View File

@ -42,24 +42,26 @@ static VectorValues gradientInPlace(const NonlinearFactorGraph &nfg,
}
NonlinearConjugateGradientOptimizer::NonlinearConjugateGradientOptimizer(
const NonlinearFactorGraph& graph, const Values& initialValues, const Parameters& params)
: Base(graph, std::unique_ptr<State>(new State(initialValues, graph.error(initialValues)))),
const NonlinearFactorGraph& graph, const Values& initialValues,
const Parameters& params)
: Base(graph, std::unique_ptr<State>(
new State(initialValues, graph.error(initialValues)))),
params_(params) {}
double NonlinearConjugateGradientOptimizer::System::error(const State& state) const {
double NonlinearConjugateGradientOptimizer::System::error(
const Values& state) const {
return graph_.error(state);
}
NonlinearConjugateGradientOptimizer::System::Gradient NonlinearConjugateGradientOptimizer::System::gradient(
const State &state) const {
VectorValues NonlinearConjugateGradientOptimizer::System::gradient(
const Values& state) const {
return gradientInPlace(graph_, state);
}
NonlinearConjugateGradientOptimizer::System::State NonlinearConjugateGradientOptimizer::System::advance(
const State &current, const double alpha, const Gradient &g) const {
Gradient step = g;
step *= alpha;
return current.retract(step);
Values NonlinearConjugateGradientOptimizer::System::advance(
const Values& current, const double alpha,
const VectorValues& gradient) const {
return current.retract(alpha * gradient);
}
GaussianFactorGraph::shared_ptr NonlinearConjugateGradientOptimizer::iterate() {

21
gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
View File

@ -29,8 +29,6 @@ class GTSAM_EXPORT NonlinearConjugateGradientOptimizer : public NonlinearOptimiz
/* a class for the nonlinearConjugateGradient template */
class System {
public:
typedef Values State;
typedef VectorValues Gradient;
typedef NonlinearOptimizerParams Parameters;
protected:
@ -40,10 +38,10 @@ class GTSAM_EXPORT NonlinearConjugateGradientOptimizer : public NonlinearOptimiz
System(const NonlinearFactorGraph &graph) :
graph_(graph) {
}
double error(const State &state) const;
Gradient gradient(const State &state) const;
State advance(const State &current, const double alpha,
const Gradient &g) const;
double error(const Values &state) const;
VectorValues gradient(const Values &state) const;
Values advance(const Values &current, const double alpha,
const VectorValues &g) const;
};
public:
@ -52,7 +50,7 @@ public:
typedef NonlinearOptimizerParams Parameters;
typedef std::shared_ptr<NonlinearConjugateGradientOptimizer> shared_ptr;
protected:
protected:
Parameters params_;
const NonlinearOptimizerParams& _params() const override {
@ -62,8 +60,9 @@ protected:
public:
/// Constructor
NonlinearConjugateGradientOptimizer(const NonlinearFactorGraph& graph,
const Values& initialValues, const Parameters& params = Parameters());
NonlinearConjugateGradientOptimizer(
const NonlinearFactorGraph &graph, const Values &initialValues,
const Parameters &params = Parameters());
/// Destructor
~NonlinearConjugateGradientOptimizer() override {
@ -163,8 +162,8 @@ std::tuple<V, int> nonlinearConjugateGradient(const S &system,
}
V currentValues = initial;
typename S::Gradient currentGradient = system.gradient(currentValues),
prevGradient, direction = currentGradient;
VectorValues currentGradient = system.gradient(currentValues), prevGradient,
direction = currentGradient;
/* do one step of gradient descent */
V prevValues = currentValues;