25#include <gtsam/linear/Preconditioner.h>
27#include <gtsam/dllexport.h>
29#include <boost/shared_ptr.hpp>
36 class GaussianBayesNet;
37 class GaussianFactorGraph;
41 typedef boost::shared_ptr<SubgraphPreconditionerParameters> shared_ptr;
57 typedef boost::shared_ptr<SubgraphPreconditioner> shared_ptr;
84 void print(
const std::string& s =
"SubgraphPreconditioner")
const;
105 return VectorValues::Zero(xbar_);
113 void transposeMultiplyAdd2(
double alpha, Errors::const_iterator begin,
126 void multiplyInPlace(
const VectorValues& y, Errors& e)
const;
135 void transposeMultiplyAdd(
double alpha,
const Errors& e,
VectorValues& y)
const;
141 void solve(
const Vector& y, Vector &x)
const override;
144 void transposeSolve(
const Vector& y, Vector& x)
const override;
148 const GaussianFactorGraph &gfg,
150 const std::map<Key,Vector> &lambda
Some support classes for iterative solvers.
Chordal Bayes Net, the result of eliminating a factor graph.
Linear Factor Graph where all factors are Gaussians.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
void print(const Matrix &A, const string &s, ostream &stream)
print without optional string, must specify cout yourself
Definition Matrix.cpp:156
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
Handy data structure for iterative solvers.
Definition IterativeSolver.h:126
Definition Preconditioner.h:24
Definition Preconditioner.h:64
Definition SubgraphBuilder.h:96
Definition SubgraphPreconditioner.h:40
Subgraph conditioner class, as explained in the RSS 2010 submission.
Definition SubgraphPreconditioner.h:54
const GaussianFactorGraph & Ab2() const
Access Ab2.
Definition SubgraphPreconditioner.h:87
const Errors b2bar() const
Access b2bar.
Definition SubgraphPreconditioner.h:93
const GaussianBayesNet & Rc1() const
Access Rc1.
Definition SubgraphPreconditioner.h:90
VectorValues represents a collection of vector-valued variables associated each with a unique integer...
Definition VectorValues.h:74
The Factor::error simply extracts the.