solver_pcg.cpp File Reference

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

Include dependency graph for solver_pcg.cpp:

Go to the source code of this file.

Classes
class	g2o::PCGSolverCreator

Namespaces
	g2o

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

Functions
static OptimizationAlgorithm *	g2o::createSolver (const std::string &fullSolverName)
	g2o::G2O_REGISTER_OPTIMIZATION_LIBRARY (pcg)
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (gn_pcg, new PCGSolverCreator(OptimizationAlgorithmProperty("gn_pcg","Gauss-Newton: PCG solver using block-Jacobi pre-conditioner (variable blocksize)","PCG", false, Eigen::Dynamic, Eigen::Dynamic)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (gn_pcg3_2, new PCGSolverCreator(OptimizationAlgorithmProperty("gn_pcg3_2","Gauss-Newton: PCG solver using block-Jacobi pre-conditioner (fixed blocksize)","PCG", true, 3, 2)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (gn_pcg6_3, new PCGSolverCreator(OptimizationAlgorithmProperty("gn_pcg6_3","Gauss-Newton: PCG solver using block-Jacobi pre-conditioner (fixed blocksize)","PCG", true, 6, 3)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (gn_pcg7_3, new PCGSolverCreator(OptimizationAlgorithmProperty("gn_pcg7_3","Gauss-Newton: PCG solver using block-Jacobi pre-conditioner (fixed blocksize)","PCG", true, 7, 3)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (lm_pcg, new PCGSolverCreator(OptimizationAlgorithmProperty("lm_pcg","Levenberg: PCG solver using block-Jacobi pre-conditioner (variable blocksize)","PCG", false, Eigen::Dynamic, Eigen::Dynamic)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (lm_pcg3_2, new PCGSolverCreator(OptimizationAlgorithmProperty("lm_pcg3_2","Levenberg: PCG solver using block-Jacobi pre-conditioner (fixed blocksize)","PCG", true, 3, 2)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (lm_pcg6_3, new PCGSolverCreator(OptimizationAlgorithmProperty("lm_pcg6_3","Levenberg: PCG solver using block-Jacobi pre-conditioner (fixed blocksize)","PCG", true, 6, 3)))
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (lm_pcg7_3, new PCGSolverCreator(OptimizationAlgorithmProperty("lm_pcg7_3","Levenberg: PCG solver using block-Jacobi pre-conditioner (fixed blocksize)","PCG", true, 7, 3)))

Macro Definition Documentation

#define ALLOC_PCG	(		s,
			p,
			l
	)

Value:

if (1) { \
      std::cerr << "# Using PCG poseDim " << p << " landMarkDim " << l << std::endl; \
      DIM_TO_SOLVER(p, l)::LinearSolverType* linearSolver = new LinearSolverPCG<DIM_TO_SOLVER(p, l)::PoseMatrixType>(); \
      s = new DIM_TO_SOLVER(p, l)(linearSolver); \
  } else (void)0

Definition at line 39 of file solver_pcg.cpp.

Referenced by g2o::createSolver().

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

Definition at line 37 of file solver_pcg.cpp.