mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE > Struct Template Reference

Detailed Description

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

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

Definition at line 218 of file lev-marq_solvers.h.

#include <mrpt/srba/impl/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_)
	Constructor. More...
	~solver_engine ()
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_type::solver_t::extra_results_t &out_info)
	Here, out_info is of type mrpt::srba::options::solver_LM_no_schur_sparse_cholesky::extra_results_t. More...

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
CSparseMatrix *	sS
	Sparse Hessian. More...
bool	sS_is_valid
	Whether the Hessian was filled in, in sS. More...
SparseCholeskyDecompPtr	ptrCh
	Cholesky object, as a pointer to reuse it between iterations. More...
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_type::REL_POSE_DIMS
static const size_t	LM_DIMS = RBA_ENGINE::lm_type::LM_DIMS

Member Typedef Documentation

template<class RBA_ENGINE >

typedef RBA_ENGINE::hessian_traits_t mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::hessian_traits_t

Definition at line 220 of file lev-marq_solvers.h.

Constructor & Destructor Documentation

template<class RBA_ENGINE >

mrpt::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 248 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::~solver_engine ( )

inline

Definition at line 273 of file lev-marq_solvers.h.

Member Function Documentation

template<class RBA_ENGINE >

void mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::get_extra_results ( typename RBA_ENGINE::rba_options_type::solver_t::extra_results_t &  out_info )

inline

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

Definition at line 401 of file lev-marq_solvers.h.

References mrpt::math::CSparseMatrix::swap().

template<class RBA_ENGINE >

void mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::realize_lambda_changed ( )

inline

Definition at line 392 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

void mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::realize_relinearized ( )

inline

Definition at line 385 of file lev-marq_solvers.h.

References DETAILED_PROFILING_ENTER, and DETAILED_PROFILING_LEAVE.

template<class RBA_ENGINE >

bool mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::solve ( const double  lambda )

inline

Definition at line 283 of file lev-marq_solvers.h.

References mrpt::math::CSparseMatrix::clear(), mrpt::math::CSparseMatrix::compressFromTriplet(), DETAILED_PROFILING_ENTER, DETAILED_PROFILING_LEAVE, mrpt::math::CSparseMatrix::insert_submatrix(), and VERBOSE_LEVEL.

template<class RBA_ENGINE >

bool mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::was_ith_feature_invertible ( const size_t  i )

inline

Definition at line 396 of file lev-marq_solvers.h.

Member Data Documentation

template<class RBA_ENGINE >

Eigen::VectorXd mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::delta_eps

Definition at line 229 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

hessian_traits_t::TSparseBlocksHessian_Ap& mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::HAp

Definition at line 230 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

hessian_traits_t::TSparseBlocksHessian_Apf& mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::HApf

Definition at line 232 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

hessian_traits_t::TSparseBlocksHessian_f& mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::Hf

Definition at line 231 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

const size_t mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::LM_DIMS = RBA_ENGINE::lm_type::LM_DIMS

static

Definition at line 223 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

mrpt::utils::CTimeLogger& mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::m_profiler

Definition at line 226 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

const int mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::m_verbose_level

Definition at line 225 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

Eigen::VectorXd& mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::minus_grad

Definition at line 233 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

const size_t mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::nUnknowns_k2f

Definition at line 228 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

const size_t mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::nUnknowns_k2k

Definition at line 228 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

const size_t mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::POSE_DIMS = RBA_ENGINE::kf2kf_pose_type::REL_POSE_DIMS

static

Definition at line 222 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

SparseCholeskyDecompPtr mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::ptrCh

Cholesky object, as a pointer to reuse it between iterations.

Definition at line 238 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

SchurComplement< typename hessian_traits_t::TSparseBlocksHessian_Ap, typename hessian_traits_t::TSparseBlocksHessian_f, typename hessian_traits_t::TSparseBlocksHessian_Apf > mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::schur_compl

Definition at line 245 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

CSparseMatrix* mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::sS

Sparse Hessian.

Definition at line 235 of file lev-marq_solvers.h.

template<class RBA_ENGINE >

bool mrpt::srba::internal::solver_engine< true, false, RBA_ENGINE >::sS_is_valid

Whether the Hessian was filled in, in sS.

Definition at line 236 of file lev-marq_solvers.h.