gtsam
4.0.0
gtsam
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System class needed for calling preconditionedConjugateGradient.
Public Member Functions | |
GaussianFactorGraphSystem (const GaussianFactorGraph &gfg, const Preconditioner &preconditioner, const KeyInfo &info, const std::map< Key, Vector > &lambda) | |
void | residual (const Vector &x, Vector &r) const |
void | multiply (const Vector &x, Vector &y) const |
void | leftPrecondition (const Vector &x, Vector &y) const |
void | rightPrecondition (const Vector &x, Vector &y) const |
void | scal (const double alpha, Vector &x) const |
double | dot (const Vector &x, const Vector &y) const |
void | axpy (const double alpha, const Vector &x, Vector &y) const |
void | getb (Vector &b) const |
Public Attributes | |
const GaussianFactorGraph & | gfg_ |
const Preconditioner & | preconditioner_ |
const KeyInfo & | keyInfo_ |
const std::map< Key, Vector > & | lambda_ |