83 lines
2.9 KiB
C++
83 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
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
#pragma once
|
|
|
|
#include <boost/foreach.hpp>
|
|
|
|
#include <gtsam/linear/iterative-inl.h>
|
|
#include <gtsam/inference/graph-inl.h>
|
|
#include <gtsam/inference/EliminationTree.h>
|
|
|
|
using namespace std;
|
|
|
|
namespace gtsam {
|
|
|
|
template<class GRAPH, class LINEAR, class KEY>
|
|
void SubgraphSolver<GRAPH,LINEAR,KEY>::replaceFactors(const typename LINEAR::shared_ptr &graph) {
|
|
|
|
GaussianFactorGraph::shared_ptr Ab1 = boost::make_shared<GaussianFactorGraph>();
|
|
GaussianFactorGraph::shared_ptr Ab2 = boost::make_shared<GaussianFactorGraph>();
|
|
|
|
if (parameters_->verbosity()) cout << "split the graph ...";
|
|
split(pairs_, *graph, *Ab1, *Ab2) ;
|
|
if (parameters_->verbosity()) cout << ",with " << Ab1->size() << " and " << Ab2->size() << " factors" << endl;
|
|
|
|
// // Add a HardConstraint to the root, otherwise the root will be singular
|
|
// Key root = keys.back();
|
|
// T_.addHardConstraint(root, theta0[root]);
|
|
//
|
|
// // compose the approximate solution
|
|
// theta_bar_ = composePoses<GRAPH, Constraint, Pose, Values> (T_, tree, theta0[root]);
|
|
|
|
LINEAR sacrificialAb1 = *Ab1; // duplicate !!!!!
|
|
SubgraphPreconditioner::sharedBayesNet Rc1 =
|
|
EliminationTree<GaussianFactor>::Create(sacrificialAb1)->eliminate(&EliminateQR);
|
|
SubgraphPreconditioner::sharedValues xbar = gtsam::optimize_(*Rc1);
|
|
|
|
pc_ = boost::make_shared<SubgraphPreconditioner>(
|
|
Ab1->dynamicCastFactors<FactorGraph<JacobianFactor> >(), Ab2->dynamicCastFactors<FactorGraph<JacobianFactor> >(),Rc1,xbar);
|
|
}
|
|
|
|
template<class GRAPH, class LINEAR, class KEY>
|
|
VectorValues::shared_ptr SubgraphSolver<GRAPH,LINEAR,KEY>::optimize() const {
|
|
|
|
// preconditioned conjugate gradient
|
|
VectorValues zeros = pc_->zero();
|
|
VectorValues ybar = conjugateGradients<SubgraphPreconditioner, VectorValues, Errors>
|
|
(*pc_, zeros, *parameters_);
|
|
|
|
boost::shared_ptr<VectorValues> xbar = boost::make_shared<VectorValues>() ;
|
|
*xbar = pc_->x(ybar);
|
|
return xbar;
|
|
}
|
|
|
|
template<class GRAPH, class LINEAR, class KEY>
|
|
void SubgraphSolver<GRAPH,LINEAR,KEY>::initialize(const GRAPH& G, const Values& theta0) {
|
|
// generate spanning tree
|
|
PredecessorMap<KEY> tree_ = gtsam::findMinimumSpanningTree<GRAPH, KEY, Constraint>(G);
|
|
|
|
// make the ordering
|
|
list<KEY> keys = predecessorMap2Keys(tree_);
|
|
ordering_ = boost::make_shared<Ordering>(list<Key>(keys.begin(), keys.end()));
|
|
|
|
// build factor pairs
|
|
pairs_.clear();
|
|
typedef pair<KEY,KEY> EG ;
|
|
BOOST_FOREACH( const EG &eg, tree_ ) {
|
|
Key key1 = Key(eg.first),
|
|
key2 = Key(eg.second) ;
|
|
pairs_.insert(pair<Index, Index>((*ordering_)[key1], (*ordering_)[key2])) ;
|
|
}
|
|
}
|
|
|
|
} // \namespace gtsam
|