80 lines
2.9 KiB
C++
80 lines
2.9 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
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/*
|
|
* iterative.cpp
|
|
* @brief Iterative methods, implementation
|
|
* @author Frank Dellaert
|
|
* Created on: Dec 28, 2009
|
|
*/
|
|
#include <iostream>
|
|
|
|
#include <gtsam/base/Vector.h>
|
|
#include <gtsam/base/Matrix.h>
|
|
#include <gtsam/linear/GaussianFactorGraph.h>
|
|
#include <gtsam/linear/iterative-inl.h>
|
|
|
|
using namespace std;
|
|
|
|
namespace gtsam {
|
|
|
|
/* ************************************************************************* */
|
|
void System::print (const string& s) const {
|
|
cout << s << endl;
|
|
gtsam::print(A_, "A");
|
|
gtsam::print(b_, "b");
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Vector steepestDescent(const System& Ab, const Vector& x, bool verbose,
|
|
double epsilon, double epsilon_abs, size_t maxIterations) {
|
|
return conjugateGradients<System, Vector, Vector> (Ab, x, verbose, epsilon,
|
|
epsilon_abs, maxIterations, true);
|
|
}
|
|
|
|
Vector conjugateGradientDescent(const System& Ab, const Vector& x,
|
|
bool verbose, double epsilon, double epsilon_abs, size_t maxIterations) {
|
|
return conjugateGradients<System, Vector, Vector> (Ab, x, verbose, epsilon,
|
|
epsilon_abs, maxIterations);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
Vector steepestDescent(const Matrix& A, const Vector& b, const Vector& x,
|
|
bool verbose, double epsilon, double epsilon_abs, size_t maxIterations) {
|
|
System Ab(A, b);
|
|
return conjugateGradients<System, Vector, Vector> (Ab, x, verbose, epsilon,
|
|
epsilon_abs, maxIterations, true);
|
|
}
|
|
|
|
Vector conjugateGradientDescent(const Matrix& A, const Vector& b,
|
|
const Vector& x, bool verbose, double epsilon, double epsilon_abs, size_t maxIterations) {
|
|
System Ab(A, b);
|
|
return conjugateGradients<System, Vector, Vector> (Ab, x, verbose, epsilon,
|
|
epsilon_abs, maxIterations);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
VectorValues steepestDescent(const GaussianFactorGraph& fg,
|
|
const VectorValues& x, bool verbose, double epsilon, double epsilon_abs, size_t maxIterations) {
|
|
return conjugateGradients<GaussianFactorGraph, VectorValues, Errors> (fg,
|
|
x, verbose, epsilon, epsilon_abs, maxIterations, true);
|
|
}
|
|
|
|
VectorValues conjugateGradientDescent(const GaussianFactorGraph& fg,
|
|
const VectorValues& x, bool verbose, double epsilon, double epsilon_abs, size_t maxIterations) {
|
|
return conjugateGradients<GaussianFactorGraph, VectorValues, Errors> (fg,
|
|
x, verbose, epsilon, epsilon_abs, maxIterations);
|
|
}
|
|
|
|
/* ************************************************************************* */
|
|
|
|
} // namespace gtsam
|