31class GaussianFactorGraph;
32class GaussianBayesNet;
33class SubgraphPreconditioner;
41 void print(std::ostream &os)
const override {
82 boost::shared_ptr<SubgraphPreconditioner>
pc_;
124 const std::map<Key, Vector> &lambda,
132 std::pair<GaussianFactorGraph, GaussianFactorGraph> splitGraph(
Implementation of Conjugate Gradient solver for a linear system.
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
Point3 optimize(const NonlinearFactorGraph &graph, const Values &values, Key landmarkKey)
Optimize for triangulation.
Definition: triangulation.cpp:155
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition: Matrix.cpp:156
Definition: Ordering.h:34
parameters for the conjugate gradient method
Definition: ConjugateGradientSolver.h:29
GaussianBayesNet is a Bayes net made from linear-Gaussian conditionals.
Definition: GaussianBayesNet.h:36
A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e.
Definition: GaussianFactorGraph.h:75
Base class for Iterative Solvers like SubgraphSolver.
Definition: IterativeSolver.h:86
Handy data structure for iterative solvers.
Definition: IterativeSolver.h:126
Definition: SubgraphBuilder.h:96
Definition: SubgraphSolver.h:36
This class implements the linear SPCG solver presented in Dellaert et al in IROS'10.
Definition: SubgraphSolver.h:76
~SubgraphSolver() override
Destructor.
Definition: SubgraphSolver.h:112
boost::shared_ptr< SubgraphPreconditioner > pc_
preconditioner object
Definition: SubgraphSolver.h:82
VectorValues represents a collection of vector-valued variables associated each with a unique integer...
Definition: VectorValues.h:74