74 lines
2.0 KiB
C++
74 lines
2.0 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file Factorization
|
|
* @brief Template Linear solver class that uses a Gaussian Factor Graph
|
|
* @author Kai Ni
|
|
* @author Frank Dellaert
|
|
*/
|
|
|
|
// $Id: GaussianFactorGraph.h,v 1.24 2009/08/14 20:48:51 acunning Exp $
|
|
|
|
#pragma once
|
|
|
|
#include <stdexcept>
|
|
#include <gtsam/linear/GaussianFactorGraph.h>
|
|
#include <gtsam/inference/inference-inl.h>
|
|
|
|
namespace gtsam {
|
|
|
|
class Ordering;
|
|
|
|
/**
|
|
* A linear system solver using factorization
|
|
*/
|
|
template <class NonlinearGraph, class Values>
|
|
class Factorization {
|
|
private:
|
|
boost::shared_ptr<Ordering> ordering_;
|
|
|
|
public:
|
|
Factorization(boost::shared_ptr<Ordering> ordering)
|
|
: ordering_(ordering) {
|
|
if (!ordering) throw std::invalid_argument("Factorization constructor: ordering = NULL");
|
|
}
|
|
|
|
/**
|
|
* solve for the optimal displacement in the tangent space, and then solve
|
|
* the resulted linear system
|
|
*/
|
|
VectorValues optimize(GaussianFactorGraph& fg) const {
|
|
return gtsam::optimize(*Inference::Eliminate(fg));
|
|
}
|
|
|
|
/**
|
|
* linearize the non-linear graph around the current config
|
|
*/
|
|
boost::shared_ptr<GaussianFactorGraph> linearize(const NonlinearGraph& g, const Values& config) const {
|
|
return g.linearize(config, *ordering_);
|
|
}
|
|
|
|
/**
|
|
* Does not do anything here in Factorization.
|
|
*/
|
|
boost::shared_ptr<Factorization> prepareLinear(const GaussianFactorGraph& fg) const {
|
|
return boost::shared_ptr<Factorization>(new Factorization(*this));
|
|
}
|
|
|
|
/** expmap the Values given the stored Ordering */
|
|
Values expmap(const Values& config, const VectorValues& delta) const {
|
|
return config.expmap(delta, *ordering_);
|
|
}
|
|
};
|
|
|
|
}
|