gtsam::PCGSolver Class Reference

Detailed Description

A virtual base class for the preconditioned conjugate gradient solver.

Inheritance diagram for gtsam::PCGSolver:

Public Member Functions
	PCGSolver (const PCGSolverParameters &p)
	Construct a solver with the supplied iteration and preconditioner settings.
VectorValues	optimize (const GaussianFactorGraph &gfg, const KeyInfo &keyInfo, const std::map< Key, Vector > &lambda, const VectorValues &initial) override
	Solve using explicit key metadata, damping, and an initial estimate.
PCGSolverResult	optimizeDetailed (const GaussianFactorGraph &gfg, bool collectResidualHistory=true)
	Optimize from zero and return convergence diagnostics and phase timings.
PCGSolverResult	optimizeDetailed (const GaussianFactorGraph &gfg, const KeyInfo &keyInfo, const std::map< Key, Vector > &lambda, const VectorValues &initial, bool collectResidualHistory=true)
	Optimize with explicit metadata and an initial estimate, returning convergence diagnostics and phase timings.
GTSAM_EXPORT VectorValues	optimize (const GaussianFactorGraph &gfg, const KeyInfo *=nullptr, const std::map< Key, Vector > *lambda=nullptr)
GTSAM_EXPORT VectorValues	optimize (const GaussianFactorGraph &gfg, const KeyInfo &keyInfo, const std::map< Key, Vector > &lambda)
Public Member Functions inherited from gtsam::IterativeSolver
GTSAM_EXPORT VectorValues	optimize (const GaussianFactorGraph &gfg, const KeyInfo *=nullptr, const std::map< Key, Vector > *lambda=nullptr)
GTSAM_EXPORT VectorValues	optimize (const GaussianFactorGraph &gfg, const KeyInfo &keyInfo, const std::map< Key, Vector > &lambda)

Public Types
typedef IterativeSolver	Base
typedef std::shared_ptr< PCGSolver >	shared_ptr
Public Types inherited from gtsam::IterativeSolver
typedef std::shared_ptr< IterativeSolver >	shared_ptr

Protected Attributes
PCGSolverParameters	parameters_
std::shared_ptr< Preconditioner >	preconditioner_

Constructor & Destructor Documentation

PCGSolver()

gtsam::PCGSolver::PCGSolver

(

const PCGSolverParameters &

p

)

Construct a solver with the supplied iteration and preconditioner settings.

Parameters

p	Settings copied into the solver.

Member Function Documentation

optimize()

VectorValues gtsam::PCGSolver::optimize ( const GaussianFactorGraph & gfg, const KeyInfo & keyInfo, const std::map< Key, Vector > & lambda, const VectorValues & initial )

overridevirtual

Solve using explicit key metadata, damping, and an initial estimate.

Parameters

gfg	Gaussian factor graph defining the normal equations.
keyInfo	Ordering, dimensions, and scalar offsets for graph keys.
lambda	Per-key damping forwarded to the preconditioner.
initial	Initial estimate in keyed form.

Returns

Final solution in keyed form.

Implements gtsam::IterativeSolver.

optimizeDetailed() [1/2]

PCGSolverResult gtsam::PCGSolver::optimizeDetailed	(	const GaussianFactorGraph &	gfg,
		bool	collectResidualHistory = true )

Optimize from zero and return convergence diagnostics and phase timings.

Residual history is collected when collectResidualHistory is true.

Parameters

gfg	Gaussian factor graph defining the normal equations.
collectResidualHistory	Whether to retain per-iteration residuals.

Returns

Solution, convergence diagnostics, and phase timings.

optimizeDetailed() [2/2]

PCGSolverResult gtsam::PCGSolver::optimizeDetailed	(	const GaussianFactorGraph &	gfg,
		const KeyInfo &	keyInfo,
		const std::map< Key, Vector > &	lambda,
		const VectorValues &	initial,
		bool	collectResidualHistory = true )

Optimize with explicit metadata and an initial estimate, returning convergence diagnostics and phase timings.

Parameters

gfg	Gaussian factor graph defining the normal equations.
keyInfo	Ordering, dimensions, and scalar offsets for graph keys.
lambda	Per-key damping forwarded to the preconditioner.
initial	Initial estimate in keyed form.
collectResidualHistory	Whether to retain per-iteration residuals.

Returns

Solution, convergence diagnostics, and phase timings.

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The documentation for this class was generated from the following files:

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/linear/PCGSolver.h
• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/linear/PCGSolver.cpp