g2o::BlockSolverBase Class Reference

base for the block solvers with some basic function interfaces More...

#include <block_solver.h>

Inheritance diagram for g2o::BlockSolverBase:

Collaboration diagram for g2o::BlockSolverBase:

Public Member Functions
virtual	~BlockSolverBase ()
virtual void	multiplyHessian (double *dest, const double *src) const =0
Public Member Functions inherited from g2o::Solver
	Solver ()
virtual	~Solver ()
virtual bool	init (SparseOptimizer *optimizer, bool online=false)=0
virtual bool	buildStructure (bool zeroBlocks=false)=0
virtual bool	updateStructure (const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)=0
virtual bool	buildSystem ()=0
virtual bool	solve ()=0
virtual bool	computeMarginals (SparseBlockMatrix< MatrixX > &spinv, const std::vector< std::pair< int, int > > &blockIndices)=0
virtual bool	setLambda (double lambda, bool backup=false)=0
virtual void	restoreDiagonal ()=0
double *	x ()
	return x, the solution vector
const double *	x () const
double *	b ()
	return b, the right hand side of the system
const double *	b () const
size_t	vectorSize () const
	return the size of the solution vector (x) and b
SparseOptimizer *	optimizer () const
	the optimizer (graph) on which the solver works
void	setOptimizer (SparseOptimizer *optimizer)
bool	levenberg () const
	the system is Levenberg-Marquardt
void	setLevenberg (bool levenberg)
virtual bool	supportsSchur ()
virtual bool	schur ()=0
	should the solver perform the schur complement or not
virtual void	setSchur (bool s)=0
size_t	additionalVectorSpace () const
void	setAdditionalVectorSpace (size_t s)
virtual void	setWriteDebug (bool)=0
virtual bool	writeDebug () const =0
virtual bool	saveHessian (const std::string &) const =0
	write the hessian to disk using the specified file name

Additional Inherited Members
Protected Member Functions inherited from g2o::Solver
void	resizeVector (size_t sx)
Protected Attributes inherited from g2o::Solver
SparseOptimizer *	_optimizer
double *	_x
double *	_b
size_t	_xSize
size_t	_maxXSize
bool	_isLevenberg
size_t	_additionalVectorSpace

Detailed Description

base for the block solvers with some basic function interfaces

Definition at line 90 of file block_solver.h.

Constructor & Destructor Documentation

~BlockSolverBase()

virtual g2o::BlockSolverBase::~BlockSolverBase ( )

inlinevirtual

Definition at line 92 of file block_solver.h.

Member Function Documentation

multiplyHessian()

virtual void g2o::BlockSolverBase::multiplyHessian ( double * dest, const double * src ) const

pure virtual

compute dest = H * src

Implemented in g2o::BlockSolver< Traits >, and g2o::BlockSolver< BlockSolverTraits< p, l > >.

Referenced by g2o::OptimizationAlgorithmDogleg::solve().

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The documentation for this class was generated from the following file:

• /build/reproducible-path/g2o-0~20230806/g2o/core/block_solver.h