solver_cholmod.cpp File Reference

#include "linear_solver_cholmod.h"
#include "g2o/core/block_solver.h"
#include "g2o/core/solver.h"
#include "g2o/core/optimization_algorithm_factory.h"
#include "g2o/core/optimization_algorithm_gauss_newton.h"
#include "g2o/core/optimization_algorithm_levenberg.h"
#include "g2o/core/optimization_algorithm_dogleg.h"
#include "g2o/stuff/macros.h"

Include dependency graph for solver_cholmod.cpp:

Go to the source code of this file.

Classes
class	g2o::CholmodSolverCreator

Namespaces
	g2o

Macros
#define	DIM_TO_SOLVER(p, l)   BlockSolver< BlockSolverTraits<p, l> >
#define	ALLOC_CHOLMOD(s, p, l, blockorder)

Functions
static OptimizationAlgorithm *	g2o::createSolver (const std::string &fullSolverName)
	g2o::G2O_REGISTER_OPTIMIZATION_LIBRARY (cholmod)
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (gn_var_cholmod, new CholmodSolverCreator(OptimizationAlgorithmProperty("gn_var_cholmod","Gauss-Newton: Cholesky solver using CHOLMOD (variable blocksize)","CHOLMOD", false, Eigen::Dynamic, Eigen::Dynamic)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (gn_fix3_2_cholmod, new CholmodSolverCreator(OptimizationAlgorithmProperty("gn_fix3_2_cholmod","Gauss-Newton: Cholesky solver using CHOLMOD (fixed blocksize)","CHOLMOD", true, 3, 2)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (gn_fix6_3_cholmod, new CholmodSolverCreator(OptimizationAlgorithmProperty("gn_fix6_3_cholmod","Gauss-Newton: Cholesky solver using CHOLMOD (fixed blocksize)","CHOLMOD", true, 6, 3)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (gn_fix7_3_cholmod, new CholmodSolverCreator(OptimizationAlgorithmProperty("gn_fix7_3_cholmod","Gauss-Newton: Cholesky solver using CHOLMOD (fixed blocksize)","CHOLMOD", true, 7, 3)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (lm_var_cholmod, new CholmodSolverCreator(OptimizationAlgorithmProperty("lm_var_cholmod","Levenberg: Cholesky solver using CHOLMOD (variable blocksize)","CHOLMOD", false, Eigen::Dynamic, Eigen::Dynamic)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (lm_fix3_2_cholmod, new CholmodSolverCreator(OptimizationAlgorithmProperty("lm_fix3_2_cholmod","Levenberg: Cholesky solver using CHOLMOD (fixed blocksize)","CHOLMOD", true, 3, 2)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (lm_fix6_3_cholmod, new CholmodSolverCreator(OptimizationAlgorithmProperty("lm_fix6_3_cholmod","Levenberg: Cholesky solver using CHOLMOD (fixed blocksize)","CHOLMOD", true, 6, 3)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (lm_fix7_3_cholmod, new CholmodSolverCreator(OptimizationAlgorithmProperty("lm_fix7_3_cholmod","Levenberg: Cholesky solver using CHOLMOD (fixed blocksize)","CHOLMOD", true, 7, 3)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (dl_var_cholmod, new CholmodSolverCreator(OptimizationAlgorithmProperty("dl_var_cholmod","Dogleg: Cholesky solver using CHOLMOD (variable blocksize)","CHOLMOD", false, Eigen::Dynamic, Eigen::Dynamic)))

Macro Definition Documentation

#define ALLOC_CHOLMOD	(		s,
			p,
			l,
			blockorder
	)

Value:

if (1) { \
    std::cerr << "# Using CHOLMOD poseDim " << p << " landMarkDim " << l << " blockordering " << blockorder << std::endl; \
    LinearSolverCholmod < DIM_TO_SOLVER(p, l)::PoseMatrixType >* linearSolver = new LinearSolverCholmod<DIM_TO_SOLVER(p, l)::PoseMatrixType>(); \
    linearSolver->setBlockOrdering(blockorder); \
    s = new DIM_TO_SOLVER(p, l)(linearSolver); \
  } else (void)0

Definition at line 43 of file solver_cholmod.cpp.

Referenced by g2o::createSolver().

#define DIM_TO_SOLVER	(		p,
			l
	)		BlockSolver< BlockSolverTraits<p, l> >

Definition at line 41 of file solver_cholmod.cpp.