Detailed Description

template<class RBA_ENGINE>
struct srba::internal::solver_engine< true, false, RBA_ENGINE >

SOLVER: Lev-Marq with Schur, with Sparse Cholesky (CSparse library)

Definition at line 214 of file lev-marq_solvers.h.

#include <lev-marq_solvers.h>

Public Types
typedef RBA_ENGINE::hessian_traits_t	hessian_traits_t
Public Member Functions
	solver_engine (const int verbose_level, mrpt::utils::CTimeLogger &profiler, typename hessian_traits_t::TSparseBlocksHessian_Ap &HAp_, typename hessian_traits_t::TSparseBlocksHessian_f &Hf_, typename hessian_traits_t::TSparseBlocksHessian_Apf &HApf_, Eigen::VectorXd &minus_grad_, const size_t nUnknowns_k2k_, const size_t nUnknowns_k2f_)
bool	solve (const double lambda)
void	realize_relinearized ()
void	realize_lambda_changed ()
bool	was_ith_feature_invertible (const size_t i)
void	get_extra_results (typename RBA_ENGINE::rba_options_t::solver_t::extra_results_t &out_info)
Public Attributes
const int	m_verbose_level
mrpt::utils::CTimeLogger &	m_profiler
const size_t	nUnknowns_k2k
const size_t	nUnknowns_k2f
Eigen::VectorXd	delta_eps
hessian_traits_t::TSparseBlocksHessian_Ap &	HAp
hessian_traits_t::TSparseBlocksHessian_f &	Hf
hessian_traits_t::TSparseBlocksHessian_Apf &	HApf
Eigen::VectorXd &	minus_grad
mrpt::math::CSparseMatrix *	sS
	Sparse Hessian.
bool	sS_is_valid
	Whether the Hessian was filled in, in sS.
SparseCholeskyDecompPtr	ptrCh
SchurComplement< typename hessian_traits_t::TSparseBlocksHessian_Ap, typename hessian_traits_t::TSparseBlocksHessian_f, typename hessian_traits_t::TSparseBlocksHessian_Apf >	schur_compl
Static Public Attributes
static const size_t	POSE_DIMS = RBA_ENGINE::kf2kf_pose_t::REL_POSE_DIMS
static const size_t	LM_DIMS = RBA_ENGINE::landmark_t::LM_DIMS

Constructor & Destructor Documentation

template<class RBA_ENGINE >

srba::internal::solver_engine< true, false, RBA_ENGINE >::solver_engine	(	const int	verbose_level,
		mrpt::utils::CTimeLogger &	profiler,
		typename hessian_traits_t::TSparseBlocksHessian_Ap &	HAp_,
		typename hessian_traits_t::TSparseBlocksHessian_f &	Hf_,
		typename hessian_traits_t::TSparseBlocksHessian_Apf &	HApf_,
		Eigen::VectorXd &	minus_grad_,
		const size_t	nUnknowns_k2k_,
		const size_t	nUnknowns_k2f_
	)		`[inline]`

Constructor

Definition at line 244 of file lev-marq_solvers.h.

Member Function Documentation

template<class RBA_ENGINE >

void srba::internal::solver_engine< true, false, RBA_ENGINE >::get_extra_results ( typename RBA_ENGINE::rba_options_t::solver_t::extra_results_t & out_info ) [inline]

Here, out_info is of type srba::options::solver_LM_no_schur_sparse_cholesky::extra_results_t

Definition at line 400 of file lev-marq_solvers.h.