NonlinearMultifrontalSolver.h

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/* ----------------------------------------------------------------------------
 
 * 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 <gtsam/linear/MultifrontalSolver.h>
#include <gtsam/nonlinear/LMDampingParams.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
 
#include <optional>
 
namespace gtsam {

class GTSAM_EXPORT NonlinearMultifrontalSolver : public MultifrontalSolver {
 public:
  using DampingParams = LMDampingParams;

  NonlinearMultifrontalSolver(const NonlinearFactorGraph& graph,
                              const Values& values, const Ordering& ordering,
                              MultifrontalSolver::Parameters params = {},
                              DampingParams dampingParams = DampingParams());

  static MultifrontalSolver::PrecomputedData Precompute(
      const NonlinearFactorGraph& graph, const Values& values,
      const Ordering& ordering);

  void load(const GaussianFactorGraph& graph);

  void eliminateInPlace(double lambda = 0.0);

  void eliminateInPlace(const GaussianFactorGraph& graph, double lambda = 0.0);
 
 private:
  DampingParams dampingParams_;
  VectorValues exactHessianDiagonal_;
  bool hasExactHessianDiagonal_ = false;
};
 
}  // namespace gtsam