Generic interface for a sparse solver operating on a graph which solves one iteration of the linearized objective function. More...

#include <solver.h>

Inheritance diagram for g2o::Solver:

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Collaboration diagram for g2o::Solver:

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Public Member Functions
	Solver ()

virtual	~Solver ()

virtual bool	init (SparseOptimizer *optimizer, bool online=false)=0

virtual bool	buildStructure (bool zeroBlocks=false)=0

virtual bool	updateStructure (const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)=0

virtual bool	buildSystem ()=0

virtual bool	solve ()=0

virtual bool	computeMarginals (SparseBlockMatrix< MatrixXD > &spinv, const std::vector< std::pair< int, int > > &blockIndices)=0

virtual bool	setLambda (double lambda, bool backup=false)=0

virtual void	restoreDiagonal ()=0

double *	x ()
	return x, the solution vector More...

const double *	x () const

double *	b ()
	return b, the right hand side of the system More...

const double *	b () const

size_t	vectorSize () const
	return the size of the solution vector (x) and b More...

SparseOptimizer *	optimizer () const
	the optimizer (graph) on which the solver works More...

void	setOptimizer (SparseOptimizer *optimizer)

bool	levenberg () const
	the system is Levenberg-Marquardt More...

void	setLevenberg (bool levenberg)

virtual bool	supportsSchur ()

virtual bool	schur ()=0
	should the solver perform the schur complement or not More...

virtual void	setSchur (bool s)=0

size_t	additionalVectorSpace () const

void	setAdditionalVectorSpace (size_t s)

virtual void	setWriteDebug (bool)=0

virtual bool	writeDebug () const =0

virtual bool	saveHessian (const std::string &) const =0
	write the hessian to disk using the specified file name More...

Protected Member Functions
void	resizeVector (size_t sx)

Protected Attributes
SparseOptimizer *	_optimizer

double *	_x

double *	_b

size_t	_xSize

size_t	_maxXSize

bool	_isLevenberg
	the system we gonna solve is a Levenberg-Marquardt system More...

size_t	_additionalVectorSpace

Private Member Functions
	Solver (const Solver &)

Solver &	operator= (const Solver &)

Detailed Description

Generic interface for a sparse solver operating on a graph which solves one iteration of the linearized objective function.

Definition at line 44 of file solver.h.

Constructor & Destructor Documentation

g2o::Solver::Solver ( )

Definition at line 34 of file solver.cpp.

                :
   _optimizer(0), _x(0), _b(0), _xSize(0), _maxXSize(0),
   _isLevenberg(false), _additionalVectorSpace(0)
 {
 }

g2o::Solver::~Solver ( )

virtual

Definition at line 40 of file solver.cpp.

References _b, and _x.

 {
   delete[] _x;
   delete[] _b;
 }

g2o::Solver::Solver ( const Solver & )

inlineprivate

Definition at line 147 of file solver.h.

147 { }

Member Function Documentation

size_t g2o::Solver::additionalVectorSpace ( ) const

inline

Definition at line 123 of file solver.h.

123 { return _additionalVectorSpace;}

g2o::Solver::_additionalVectorSpace

size_t _additionalVectorSpace

Definition: solver.h:141

double* g2o::Solver::b ( )

inline

return b, the right hand side of the system

Definition at line 99 of file solver.h.

Referenced by g2o::OptimizationAlgorithmLevenberg::computeScale(), g2o::SparseOptimizerOnline::optimize(), g2o::BlockSolver< Traits >::restoreDiagonal(), g2o::BlockSolver< Traits >::setLambda(), and g2o::OptimizationAlgorithmDogleg::solve().

99 { return _b;}

g2o::Solver::_b

double * _b

Definition: solver.h:138

const double* g2o::Solver::b ( ) const

inline

Definition at line 100 of file solver.h.

100 { return _b;}

g2o::Solver::_b

double * _b

Definition: solver.h:138

virtual bool g2o::Solver::buildStructure ( bool zeroBlocks = false )

pure virtual

build the structure of the system

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::buildLinearStructure(), g2o::SparseOptimizerOnline::optimize(), g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmLevenberg::solve(), and g2o::OptimizationAlgorithmDogleg::solve().

virtual bool g2o::Solver::buildSystem ( )

pure virtual

build the current system

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::SparseOptimizerOnline::optimize(), g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmLevenberg::solve(), g2o::OptimizationAlgorithmDogleg::solve(), and g2o::OptimizationAlgorithmWithHessian::updateLinearSystem().

virtual bool g2o::Solver::computeMarginals	(	SparseBlockMatrix< MatrixXD > &	spinv,
		const std::vector< std::pair< int, int > > &	blockIndices
	)

pure virtual

computes the block diagonal elements of the pattern specified in the input and stores them in given SparseBlockMatrix

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::computeMarginals().

virtual bool g2o::Solver::init	(	SparseOptimizer *	optimizer,
		bool	online = `false`
	)

pure virtual

initialize the solver, called once before the first iteration

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::init().

bool g2o::Solver::levenberg ( ) const

inline

the system is Levenberg-Marquardt

Definition at line 110 of file solver.h.

Referenced by setLevenberg().

110 { return _isLevenberg;}

g2o::Solver::_isLevenberg

bool _isLevenberg

the system we gonna solve is a Levenberg-Marquardt system

Definition: solver.h:140

Solver& g2o::Solver::operator= ( const Solver & )

inlineprivate

Definition at line 148 of file solver.h.

148 { return *this; }

SparseOptimizer* g2o::Solver::optimizer ( ) const

inline

the optimizer (graph) on which the solver works

Definition at line 106 of file solver.h.

Referenced by g2o::BlockSolver< Traits >::init(), setOptimizer(), g2o::OptimizationAlgorithmLevenberg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), and g2o::OptimizationAlgorithmDogleg::solve().

106 { return _optimizer;}

g2o::Solver::_optimizer

SparseOptimizer * _optimizer

Definition: solver.h:136

void g2o::Solver::resizeVector ( size_t sx )

protected

Definition at line 46 of file solver.cpp.

References _additionalVectorSpace, _b, _maxXSize, _x, and _xSize.

Referenced by g2o::BlockSolver< Traits >::resize(), and g2o::BlockSolver< Traits >::updateStructure().

 {
   size_t oldSize = _xSize;
   _xSize = sx;
   sx += _additionalVectorSpace; // allocate some additional space if requested
   if (_maxXSize < sx) {
     _maxXSize = 2*sx;
     delete[] _x;
     _x = new double[_maxXSize];
 #ifndef NDEBUG
     memset(_x, 0, _maxXSize * sizeof(double));
 #endif
     if (_b) { // backup the former b, might still be needed for online processing
       memcpy(_x, _b, oldSize * sizeof(double));
       delete[] _b;
       _b = new double[_maxXSize];
       std::swap(_b, _x);
     } else {
       _b = new double[_maxXSize];
 #ifndef NDEBUG
       memset(_b, 0, _maxXSize * sizeof(double));
 #endif
     }
   }
 }

virtual void g2o::Solver::restoreDiagonal ( )

pure virtual

restore a previosly made backup of the diagonal

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmLevenberg::solve(), and g2o::OptimizationAlgorithmDogleg::solve().

virtual bool g2o::Solver::saveHessian ( const std::string & ) const

pure virtual

write the hessian to disk using the specified file name

Implemented in g2o::BlockSolver< Traits >.

virtual bool g2o::Solver::schur ( )

pure virtual

should the solver perform the schur complement or not

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmGaussNewton::printVerbose(), and g2o::OptimizationAlgorithmLevenberg::printVerbose().

void g2o::Solver::setAdditionalVectorSpace ( size_t s )

Definition at line 82 of file solver.cpp.

References _additionalVectorSpace.

Referenced by g2o::SparseOptimizerIncremental::initSolver().

 {
   _additionalVectorSpace = s;
 }

virtual bool g2o::Solver::setLambda	(	double	lambda,
		bool	backup = `false`
	)

pure virtual

update the system while performing Levenberg, i.e., modifying the diagonal components of A by doing += lambda along the main diagonal of the Matrix. Note that this function may be called with a positive and a negative lambda. The latter is used to undo a former modification. If backup is true, then the solver should store a backup of the diagonal, which can be restored by restoreDiagonal()

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmLevenberg::solve(), and g2o::OptimizationAlgorithmDogleg::solve().

void g2o::Solver::setLevenberg ( bool levenberg )

Definition at line 77 of file solver.cpp.

References _isLevenberg, and levenberg().

 {
   _isLevenberg = levenberg;
 }

void g2o::Solver::setOptimizer ( SparseOptimizer * optimizer )

Definition at line 72 of file solver.cpp.

References _optimizer, and optimizer().

 {
   _optimizer = optimizer;
 }

virtual void g2o::Solver::setSchur ( bool s )

pure virtual

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::init().

virtual void g2o::Solver::setWriteDebug ( bool )

pure virtual

write debug output of the Hessian if system is not positive definite

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::init().

virtual bool g2o::Solver::solve ( )

pure virtual

solve Ax = b

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::SparseOptimizerOnline::optimize(), g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmLevenberg::solve(), and g2o::OptimizationAlgorithmDogleg::solve().

virtual bool g2o::Solver::supportsSchur ( )

inlinevirtual

does this solver support the Schur complement for solving a system consisting of poses and landmarks. Re-implemement in a derived solver, if your solver supports it.

Reimplemented in g2o::BlockSolver< Traits >.

Definition at line 117 of file solver.h.

Referenced by g2o::OptimizationAlgorithmWithHessian::init().

117 {return false;}