Inheritance diagram for gtsam::BlockJacobiPreconditioner:

Public Member Functions
void	solve (const Vector &y, Vector &x) const override
	implement x = L^{-1} y
void	transposeSolve (const Vector &y, Vector &x) const override
	implement x = L^{-T} y
void	build (const GaussianFactorGraph &gfg, const KeyInfo &info, const std::map< Key, Vector > &lambda) override
	build/factorize the preconditioner
void	build (const std::vector< Matrix > &blocks, const KeyInfo &info)
	Build and factorize block diagonals already arranged in KeyInfo ordering.

Public Types
typedef Preconditioner	Base
Public Types inherited from gtsam::Preconditioner
typedef std::shared_ptr< Preconditioner >	shared_ptr
typedef std::vector< size_t >	Dimensions

Protected Member Functions
void	clean ()
void	solveInPlaceRange (Vector &x, size_t begin, size_t end, bool transpose) const
	Apply a triangular solve to a contiguous range of independent blocks.

Friends
class	GaussianFactorGraphSystem

Member Function Documentation

◆ build() [1/2]

void gtsam::BlockJacobiPreconditioner::build	(	const GaussianFactorGraph &	gfg,
		const KeyInfo &	info,
		const std::map< Key, Vector > &	lambda )

overridevirtual

build/factorize the preconditioner

void gtsam::BlockJacobiPreconditioner::build	(	const std::vector< Matrix > &	blocks,
		const KeyInfo &	info )

Build and factorize block diagonals already arranged in KeyInfo ordering.

This avoids keyed maps when a compiled linear operator has already accumulated the blocks.

Parameters

blocks	Square Hessian diagonal blocks in info.ordering() order.
info	Expected block ordering and dimensions.

Exceptions

std::invalid_argument if block count or dimensions do not match.

void gtsam::BlockJacobiPreconditioner::solve	(	const Vector &	y,
		Vector &	x ) const

overridevirtual

implement x = L^{-1} y

void gtsam::BlockJacobiPreconditioner::transposeSolve	(	const Vector &	y,
		Vector &	x ) const

overridevirtual

implement x = L^{-T} y

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