g2o::LinearSolverPCG< MatrixType > Class Template Reference

linear solver using PCG, pre-conditioner is block Jacobi More...

#include <linear_solver_pcg.h>

Inheritance diagram for g2o::LinearSolverPCG< MatrixType >:

Collaboration diagram for g2o::LinearSolverPCG< MatrixType >:

Public Member Functions
	LinearSolverPCG ()
virtual	~LinearSolverPCG ()
virtual bool	init ()
bool	solve (const SparseBlockMatrix< MatrixType > &A, double *x, double *b)
double	tolerance () const
	return the tolerance for terminating PCG before convergence More...
void	setTolerance (double tolerance)
int	maxIterations () const
void	setMaxIterations (int maxIter)
bool	absoluteTolerance () const
void	setAbsoluteTolerance (bool absoluteTolerance)
bool	verbose () const
void	setVerbose (bool verbose)
Public Member Functions inherited from g2o::LinearSolver< MatrixType >
	LinearSolver ()
virtual	~LinearSolver ()
virtual bool	solveBlocks (double **&blocks, const SparseBlockMatrix< MatrixType > &A)
virtual bool	solvePattern (SparseBlockMatrix< MatrixXD > &spinv, const std::vector< std::pair< int, int > > &blockIndices, const SparseBlockMatrix< MatrixType > &A)
virtual bool	writeDebug () const
	write a debug dump of the system matrix if it is not PSD in solve More...
virtual void	setWriteDebug (bool)

Protected Types
typedef std::vector< MatrixType, Eigen::aligned_allocator< MatrixType > >	MatrixVector
typedef std::vector< const MatrixType * >	MatrixPtrVector

Protected Member Functions
void	multDiag (const std::vector< int > &colBlockIndices, MatrixVector &A, const VectorXD &src, VectorXD &dest)
void	multDiag (const std::vector< int > &colBlockIndices, MatrixPtrVector &A, const VectorXD &src, VectorXD &dest)
void	mult (const std::vector< int > &colBlockIndices, const VectorXD &src, VectorXD &dest)

Protected Attributes
double	_tolerance
double	_residual
bool	_absoluteTolerance
bool	_verbose
int	_maxIter
MatrixPtrVector	_diag
MatrixVector	_J
std::vector< std::pair< int, int > >	_indices
MatrixPtrVector	_sparseMat

Detailed Description

template<typename MatrixType>
class g2o::LinearSolverPCG< MatrixType >

linear solver using PCG, pre-conditioner is block Jacobi

Definition at line 47 of file linear_solver_pcg.h.

Member Typedef Documentation

template<typename MatrixType>

typedef std::vector< const MatrixType* > g2o::LinearSolverPCG< MatrixType >::MatrixPtrVector

protected

Definition at line 89 of file linear_solver_pcg.h.

template<typename MatrixType>

typedef std::vector< MatrixType, Eigen::aligned_allocator<MatrixType> > g2o::LinearSolverPCG< MatrixType >::MatrixVector

protected

Definition at line 88 of file linear_solver_pcg.h.

Constructor & Destructor Documentation

template<typename MatrixType>

g2o::LinearSolverPCG< MatrixType >::LinearSolverPCG ( )

inline

Definition at line 50 of file linear_solver_pcg.h.

References g2o::LinearSolverPCG< MatrixType >::_tolerance, and g2o::LinearSolverPCG< MatrixType >::_verbose.

                        :
      LinearSolver<MatrixType>()
      {
        _tolerance = 1e-6;
        _verbose = false;
        _absoluteTolerance = true;
        _residual = -1.0;
        _maxIter = -1;
      }

template<typename MatrixType>

virtual g2o::LinearSolverPCG< MatrixType >::~LinearSolverPCG ( )

inlinevirtual

Definition at line 60 of file linear_solver_pcg.h.

      {
      }

Member Function Documentation

template<typename MatrixType>

bool g2o::LinearSolverPCG< MatrixType >::absoluteTolerance ( ) const

inline

Definition at line 81 of file linear_solver_pcg.h.

Referenced by g2o::LinearSolverPCG< MatrixType >::setAbsoluteTolerance().

{ return _absoluteTolerance;}

template<typename MatrixType>

virtual bool g2o::LinearSolverPCG< MatrixType >::init ( )

inlinevirtual

init for operating on matrices with a different non-zero pattern like before

Implements g2o::LinearSolver< MatrixType >.

Definition at line 64 of file linear_solver_pcg.h.

References g2o::LinearSolverPCG< MatrixType >::_residual.

      {
        _residual = -1.0;
        _indices.clear();
        _sparseMat.clear();
        return true;
      }

template<typename MatrixType>

int g2o::LinearSolverPCG< MatrixType >::maxIterations ( ) const

inline

Definition at line 78 of file linear_solver_pcg.h.

References g2o::LinearSolverPCG< MatrixType >::_maxIter.

{ return _maxIter;}

template<typename MatrixType >

void LinearSolverPCG::mult ( const std::vector< int > &  colBlockIndices, const VectorXD &  src, VectorXD &  dest  )

protected

Definition at line 180 of file linear_solver_pcg.h.

template<typename MatrixType >

void LinearSolverPCG::multDiag ( const std::vector< int > &  colBlockIndices, MatrixVector &  A, const VectorXD &  src, VectorXD &  dest  )

protected

Definition at line 160 of file linear_solver_pcg.h.

template<typename MatrixType >

void LinearSolverPCG::multDiag ( const std::vector< int > &  colBlockIndices, MatrixPtrVector &  A, const VectorXD &  src, VectorXD &  dest  )

protected

Definition at line 170 of file linear_solver_pcg.h.

template<typename MatrixType>

void g2o::LinearSolverPCG< MatrixType >::setAbsoluteTolerance ( bool  absoluteTolerance )

inline

Definition at line 82 of file linear_solver_pcg.h.

References g2o::LinearSolverPCG< MatrixType >::_absoluteTolerance, and g2o::LinearSolverPCG< MatrixType >::absoluteTolerance().

{ _absoluteTolerance = absoluteTolerance;}

template<typename MatrixType>

void g2o::LinearSolverPCG< MatrixType >::setMaxIterations ( int  maxIter )

inline

Definition at line 79 of file linear_solver_pcg.h.

References g2o::LinearSolverPCG< MatrixType >::_maxIter.

{ _maxIter = maxIter;}

template<typename MatrixType>

void g2o::LinearSolverPCG< MatrixType >::setTolerance ( double  tolerance )

inline

Definition at line 76 of file linear_solver_pcg.h.

References g2o::LinearSolverPCG< MatrixType >::_tolerance, and g2o::LinearSolverPCG< MatrixType >::tolerance().

{ _tolerance = tolerance;}

template<typename MatrixType>

void g2o::LinearSolverPCG< MatrixType >::setVerbose ( bool  verbose )

inline

Definition at line 85 of file linear_solver_pcg.h.

References g2o::LinearSolverPCG< MatrixType >::_verbose, and g2o::LinearSolverPCG< MatrixType >::verbose().

{ _verbose = verbose;}

template<typename MatrixType >

bool LinearSolverPCG::solve ( const SparseBlockMatrix< MatrixType > &  A, double *  x, double *  b  )

virtual

Assumes that A is the same matrix for several calls. Among other assumptions, the non-zero pattern does not change! If the matrix changes call init() before. solve system Ax = b, x and b have to allocated beforehand!!

Implements g2o::LinearSolver< MatrixType >.

Definition at line 81 of file linear_solver_pcg.h.

References g2o::LinearSolverPCG< MatrixType >::_absoluteTolerance.

                                     { return _absoluteTolerance;}
      void setAbsoluteTolerance(bool absoluteTolerance) { _absoluteTolerance = absoluteTolerance;}

      bool verbose() const { return _verbose;}
      void setVerbose(bool verbose) { _verbose = verbose;}

    protected:
      typedef std::vector< MatrixType, Eigen::aligned_allocator<MatrixType> > MatrixVector;
      typedef std::vector< const MatrixType* > MatrixPtrVector;

      double _tolerance;
      double _residual;
      bool _absoluteTolerance;
      bool _verbose;
      int _maxIter;

      MatrixPtrVector _diag;
      MatrixVector _J;

      std::vector<std::pair<int, int> > _indices;
      MatrixPtrVector _sparseMat;

      void multDiag(const std::vector<int>& colBlockIndices, MatrixVector& A, const VectorXD& src, VectorXD& dest);
      void multDiag(const std::vector<int>& colBlockIndices, MatrixPtrVector& A, const VectorXD& src, VectorXD& dest);
      void mult(const std::vector<int>& colBlockIndices, const VectorXD& src, VectorXD& dest);
  };

#include "linear_solver_pcg.hpp"

}// end namespace

#endif

template<typename MatrixType>

double g2o::LinearSolverPCG< MatrixType >::tolerance ( ) const

inline

return the tolerance for terminating PCG before convergence

Definition at line 75 of file linear_solver_pcg.h.

References g2o::LinearSolverPCG< MatrixType >::_tolerance.

Referenced by g2o::LinearSolverPCG< MatrixType >::setTolerance().

{ return _tolerance;}

template<typename MatrixType>

bool g2o::LinearSolverPCG< MatrixType >::verbose ( ) const

inline

Definition at line 84 of file linear_solver_pcg.h.

References g2o::LinearSolverPCG< MatrixType >::_verbose.

Referenced by g2o::LinearSolverPCG< MatrixType >::setVerbose().

{ return _verbose;}

Member Data Documentation

template<typename MatrixType>

bool g2o::LinearSolverPCG< MatrixType >::_absoluteTolerance

protected

Definition at line 93 of file linear_solver_pcg.h.

Referenced by g2o::LinearSolverPCG< MatrixType >::setAbsoluteTolerance(), and g2o::LinearSolverPCG< MatrixType >::solve().

template<typename MatrixType>

MatrixPtrVector g2o::LinearSolverPCG< MatrixType >::_diag

protected

Definition at line 97 of file linear_solver_pcg.h.

template<typename MatrixType>

std::vector<std::pair<int, int> > g2o::LinearSolverPCG< MatrixType >::_indices

protected

Definition at line 100 of file linear_solver_pcg.h.

template<typename MatrixType>

MatrixVector g2o::LinearSolverPCG< MatrixType >::_J

protected

Definition at line 98 of file linear_solver_pcg.h.

template<typename MatrixType>

int g2o::LinearSolverPCG< MatrixType >::_maxIter

protected

Definition at line 95 of file linear_solver_pcg.h.

Referenced by g2o::LinearSolverPCG< MatrixType >::maxIterations(), and g2o::LinearSolverPCG< MatrixType >::setMaxIterations().

template<typename MatrixType>

double g2o::LinearSolverPCG< MatrixType >::_residual

protected

Definition at line 92 of file linear_solver_pcg.h.

Referenced by g2o::LinearSolverPCG< MatrixType >::init().

template<typename MatrixType>

MatrixPtrVector g2o::LinearSolverPCG< MatrixType >::_sparseMat

protected

Definition at line 101 of file linear_solver_pcg.h.

template<typename MatrixType>

double g2o::LinearSolverPCG< MatrixType >::_tolerance

protected

Definition at line 91 of file linear_solver_pcg.h.

Referenced by g2o::LinearSolverPCG< MatrixType >::LinearSolverPCG(), g2o::LinearSolverPCG< MatrixType >::setTolerance(), and g2o::LinearSolverPCG< MatrixType >::tolerance().

template<typename MatrixType>

bool g2o::LinearSolverPCG< MatrixType >::_verbose

protected

Definition at line 94 of file linear_solver_pcg.h.

Referenced by g2o::LinearSolverPCG< MatrixType >::LinearSolverPCG(), g2o::LinearSolverPCG< MatrixType >::setVerbose(), and g2o::LinearSolverPCG< MatrixType >::verbose().

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

• /home/xuezhisd/CLionProjects/g2o/g2o/solvers/pcg/linear_solver_pcg.h
• /home/xuezhisd/CLionProjects/g2o/g2o/solvers/pcg/linear_solver_pcg.hpp

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