linear solver using PCG, pre-conditioner is block Jacobi More...

#include <linear_solver_pcg.h>

Inheritance diagram for g2o::LinearSolverPCG< MatrixType >:

Collaboration diagram for g2o::LinearSolverPCG< MatrixType >:

Public Member Functions
	LinearSolverPCG ()
virtual	~LinearSolverPCG ()
virtual bool	init ()
bool	solve (const SparseBlockMatrix< MatrixType > &A, double x, double b)
double	tolerance () const
	return the tolerance for terminating PCG before convergence
void	setTolerance (double tolerance)
int	maxIterations () const
void	setMaxIterations (int maxIter)
bool	absoluteTolerance () const
void	setAbsoluteTolerance (bool absoluteTolerance)
Public Member Functions inherited from g2o::LinearSolver< MatrixType >
	LinearSolver ()
virtual	~LinearSolver ()
virtual bool	solveBlocks (double **&blocks, const SparseBlockMatrix< MatrixType > &A)
virtual bool	solvePattern (SparseBlockMatrix< MatrixX > &spinv, const std::vector< std::pair< int, int > > &blockIndices, const SparseBlockMatrix< MatrixType > &A)
bool	writeDebug () const
	write a debug dump of the system matrix if it is not PSD in solve
void	setWriteDebug (bool b)

Protected Types
using	MatrixVector = std::vector<MatrixType>
using	MatrixPtrVector = std::vector<const MatrixType*>

Protected Member Functions
void	multDiag (const std::vector< int > &colBlockIndices, MatrixVector &A, const VectorX &src, VectorX &dest)
void	multDiag (const std::vector< int > &colBlockIndices, MatrixPtrVector &A, const VectorX &src, VectorX &dest)
void	mult (const std::vector< int > &colBlockIndices, const VectorX &src, VectorX &dest)

Protected Attributes
double	_tolerance
double	_residual
bool	_absoluteTolerance
int	_maxIter
MatrixPtrVector	_diag
MatrixVector	_J
std::vector< std::pair< int, int > >	_indices
MatrixPtrVector	_sparseMat
Protected Attributes inherited from g2o::LinearSolver< MatrixType >
bool	_writeDebug

Additional Inherited Members
Static Public Member Functions inherited from g2o::LinearSolver< MatrixType >
static void	allocateBlocks (const SparseBlockMatrix< MatrixType > &A, double **&blocks)
	allocate block memory structure
static void	deallocateBlocks (const SparseBlockMatrix< MatrixType > &A, double **&blocks)
	de-allocate the block structure
template<typename BlockDerived, typename ScalarDerived>
static void	blockToScalarPermutation (const SparseBlockMatrix< MatrixType > &A, const Eigen::MatrixBase< BlockDerived > &p, const Eigen::MatrixBase< ScalarDerived > &scalar)

Detailed Description

template<typename MatrixType>
class g2o::LinearSolverPCG< MatrixType >

linear solver using PCG, pre-conditioner is block Jacobi

Definition at line 43 of file linear_solver_pcg.h.

Member Typedef Documentation

◆ MatrixPtrVector

template<typename MatrixType>

using g2o::LinearSolverPCG< MatrixType >::MatrixPtrVector = std::vector<const MatrixType*>

protected

Definition at line 77 of file linear_solver_pcg.h.

◆ MatrixVector

template<typename MatrixType>

using g2o::LinearSolverPCG< MatrixType >::MatrixVector = std::vector<MatrixType>

protected

Definition at line 76 of file linear_solver_pcg.h.

Constructor & Destructor Documentation

◆ LinearSolverPCG()

template<typename MatrixType>

g2o::LinearSolverPCG< MatrixType >::LinearSolverPCG ( )

inline

Definition at line 45 of file linear_solver_pcg.h.

References g2o::LinearSolver< MatrixType >::LinearSolver().

◆ ~LinearSolverPCG()

template<typename MatrixType>

virtual g2o::LinearSolverPCG< MatrixType >::~LinearSolverPCG ( )

inlinevirtual

Definition at line 52 of file linear_solver_pcg.h.

Member Function Documentation

◆ absoluteTolerance()

template<typename MatrixType>

bool g2o::LinearSolverPCG< MatrixType >::absoluteTolerance ( ) const

inline

Definition at line 70 of file linear_solver_pcg.h.

References _absoluteTolerance.

Referenced by setAbsoluteTolerance().

◆ init()

template<typename MatrixType>

virtual bool g2o::LinearSolverPCG< MatrixType >::init ( )

inlinevirtual

init for operating on matrices with a different non-zero pattern like before

Implements g2o::LinearSolver< MatrixType >.

Definition at line 54 of file linear_solver_pcg.h.

References _indices, _residual, and _sparseMat.

◆ maxIterations()

template<typename MatrixType>

int g2o::LinearSolverPCG< MatrixType >::maxIterations ( ) const

inline

Definition at line 67 of file linear_solver_pcg.h.

References _maxIter.

◆ mult()

template<typename MatrixType>

void LinearSolverPCG::mult	(	const std::vector< int > &	colBlockIndices,
		const VectorX &	src,
		VectorX &	dest )

protected

Definition at line 186 of file linear_solver_pcg.h.

template <typename MatrixType>
class LinearSolverPCG : public LinearSolver<MatrixType> {
 public:
  LinearSolverPCG() : LinearSolver<MatrixType>() {
    _tolerance = cst(1e-6);
    _absoluteTolerance = true;
    _residual = -1.0;
    _maxIter = -1;
  }
 
  virtual ~LinearSolverPCG() {}
 
  virtual bool init() {
    _residual = -1.0;
    _indices.clear();
    _sparseMat.clear();
    return true;
  }
 
  bool solve(const SparseBlockMatrix<MatrixType>& A, double* x, double* b);
  double tolerance() const { return _tolerance; }
  void setTolerance(double tolerance) { _tolerance = tolerance; }
 
  int maxIterations() const { return _maxIter; }
  void setMaxIterations(int maxIter) { _maxIter = maxIter; }
 
  bool absoluteTolerance() const { return _absoluteTolerance; }
  void setAbsoluteTolerance(bool absoluteTolerance) {
    _absoluteTolerance = absoluteTolerance;
  }
 
 protected:
  using MatrixVector = std::vector<MatrixType>;
  using MatrixPtrVector = std::vector<const MatrixType*>;
 
  double _tolerance;
  double _residual;
  bool _absoluteTolerance;
  int _maxIter;
 
  MatrixPtrVector _diag;
  MatrixVector _J;
 
  std::vector<std::pair<int, int> > _indices;
  MatrixPtrVector _sparseMat;
 
  void multDiag(const std::vector<int>& colBlockIndices, MatrixVector& A,
                const VectorX& src, VectorX& dest);
  void multDiag(const std::vector<int>& colBlockIndices, MatrixPtrVector& A,
                const VectorX& src, VectorX& dest);
  void mult(const std::vector<int>& colBlockIndices, const VectorX& src,
            VectorX& dest);
};
 
#include "linear_solver_pcg.hpp"
 
}  // namespace g2o
 
#endif

◆ multDiag() [1/2]

template<typename MatrixType>

void LinearSolverPCG::multDiag	(	const std::vector< int > &	colBlockIndices,
		MatrixPtrVector &	A,
		const VectorX &	src,
		VectorX &	dest )

protected

Definition at line 175 of file linear_solver_pcg.h.

              {
template <typename MatrixType>
class LinearSolverPCG : public LinearSolver<MatrixType> {
 public:
  LinearSolverPCG() : LinearSolver<MatrixType>() {
    _tolerance = cst(1e-6);
    _absoluteTolerance = true;
    _residual = -1.0;
    _maxIter = -1;
  }
 
  virtual ~LinearSolverPCG() {}
 
  virtual bool init() {
    _residual = -1.0;
    _indices.clear();
    _sparseMat.clear();
    return true;
  }
 
  bool solve(const SparseBlockMatrix<MatrixType>& A, double* x, double* b);
  double tolerance() const { return _tolerance; }
  void setTolerance(double tolerance) { _tolerance = tolerance; }
 
  int maxIterations() const { return _maxIter; }
  void setMaxIterations(int maxIter) { _maxIter = maxIter; }
 
  bool absoluteTolerance() const { return _absoluteTolerance; }
  void setAbsoluteTolerance(bool absoluteTolerance) {
    _absoluteTolerance = absoluteTolerance;
  }
 
 protected:
  using MatrixVector = std::vector<MatrixType>;
  using MatrixPtrVector = std::vector<const MatrixType*>;
 
  double _tolerance;
  double _residual;
  bool _absoluteTolerance;
  int _maxIter;
 
  MatrixPtrVector _diag;
  MatrixVector _J;
 
  std::vector<std::pair<int, int> > _indices;
  MatrixPtrVector _sparseMat;
 
  void multDiag(const std::vector<int>& colBlockIndices, MatrixVector& A,
                const VectorX& src, VectorX& dest);
  void multDiag(const std::vector<int>& colBlockIndices, MatrixPtrVector& A,
                const VectorX& src, VectorX& dest);
  void mult(const std::vector<int>& colBlockIndices, const VectorX& src,
            VectorX& dest);
};
 
#include "linear_solver_pcg.hpp"
 
}  // namespace g2o
 
#endif

◆ multDiag() [2/2]

template<typename MatrixType>

void LinearSolverPCG::multDiag	(	const std::vector< int > &	colBlockIndices,
		MatrixVector &	A,
		const VectorX &	src,
		VectorX &	dest )

protected

Definition at line 164 of file linear_solver_pcg.h.

              {
template <typename MatrixType>
class LinearSolverPCG : public LinearSolver<MatrixType> {
 public:
  LinearSolverPCG() : LinearSolver<MatrixType>() {
    _tolerance = cst(1e-6);
    _absoluteTolerance = true;
    _residual = -1.0;
    _maxIter = -1;
  }
 
  virtual ~LinearSolverPCG() {}
 
  virtual bool init() {
    _residual = -1.0;
    _indices.clear();
    _sparseMat.clear();
    return true;
  }
 
  bool solve(const SparseBlockMatrix<MatrixType>& A, double* x, double* b);
  double tolerance() const { return _tolerance; }
  void setTolerance(double tolerance) { _tolerance = tolerance; }
 
  int maxIterations() const { return _maxIter; }
  void setMaxIterations(int maxIter) { _maxIter = maxIter; }
 
  bool absoluteTolerance() const { return _absoluteTolerance; }
  void setAbsoluteTolerance(bool absoluteTolerance) {
    _absoluteTolerance = absoluteTolerance;
  }
 
 protected:
  using MatrixVector = std::vector<MatrixType>;
  using MatrixPtrVector = std::vector<const MatrixType*>;
 
  double _tolerance;
  double _residual;
  bool _absoluteTolerance;
  int _maxIter;
 
  MatrixPtrVector _diag;
  MatrixVector _J;
 
  std::vector<std::pair<int, int> > _indices;
  MatrixPtrVector _sparseMat;
 
  void multDiag(const std::vector<int>& colBlockIndices, MatrixVector& A,
                const VectorX& src, VectorX& dest);
  void multDiag(const std::vector<int>& colBlockIndices, MatrixPtrVector& A,
                const VectorX& src, VectorX& dest);
  void mult(const std::vector<int>& colBlockIndices, const VectorX& src,
            VectorX& dest);
};
 
#include "linear_solver_pcg.hpp"
 
}  // namespace g2o
 
#endif

◆ setAbsoluteTolerance()

template<typename MatrixType>

void g2o::LinearSolverPCG< MatrixType >::setAbsoluteTolerance ( bool absoluteTolerance )

inline

Definition at line 71 of file linear_solver_pcg.h.

                                                    {
    _absoluteTolerance = absoluteTolerance;
  }

References _absoluteTolerance, and absoluteTolerance().

◆ setMaxIterations()

template<typename MatrixType>

void g2o::LinearSolverPCG< MatrixType >::setMaxIterations ( int maxIter )

inline

Definition at line 68 of file linear_solver_pcg.h.

68{ _maxIter = maxIter; }

References _maxIter.

◆ setTolerance()

template<typename MatrixType>

void g2o::LinearSolverPCG< MatrixType >::setTolerance ( double tolerance )

inline

Definition at line 65 of file linear_solver_pcg.h.

65{ _tolerance = tolerance; }

References _tolerance, and tolerance().

◆ solve()

template<typename MatrixType>

bool LinearSolverPCG::solve	(	const SparseBlockMatrix< MatrixType > &	A,
		double *	x,
		double *	b )

virtual

Assumes that A is the same matrix for several calls. Among other assumptions, the non-zero pattern does not change! If the matrix changes call init() before. solve system Ax = b, x and b have to allocated beforehand!!

Implements g2o::LinearSolver< MatrixType >.

Definition at line 88 of file linear_solver_pcg.h.

◆ tolerance()

template<typename MatrixType>

double g2o::LinearSolverPCG< MatrixType >::tolerance ( ) const

inline

return the tolerance for terminating PCG before convergence

Definition at line 64 of file linear_solver_pcg.h.

64{ return _tolerance; }

References _tolerance.

Referenced by setTolerance().

Member Data Documentation

◆ _absoluteTolerance

template<typename MatrixType>

bool g2o::LinearSolverPCG< MatrixType >::_absoluteTolerance

protected

Definition at line 81 of file linear_solver_pcg.h.

Referenced by absoluteTolerance(), and setAbsoluteTolerance().

◆ _diag

template<typename MatrixType>

MatrixPtrVector g2o::LinearSolverPCG< MatrixType >::_diag

protected

Definition at line 84 of file linear_solver_pcg.h.

◆ _indices

template<typename MatrixType>

std::vector<std::pair<int, int> > g2o::LinearSolverPCG< MatrixType >::_indices

protected

Definition at line 87 of file linear_solver_pcg.h.

Referenced by init().

◆ _J

template<typename MatrixType>

MatrixVector g2o::LinearSolverPCG< MatrixType >::_J

protected

Definition at line 85 of file linear_solver_pcg.h.

◆ _maxIter

template<typename MatrixType>

int g2o::LinearSolverPCG< MatrixType >::_maxIter

protected

Definition at line 82 of file linear_solver_pcg.h.

Referenced by maxIterations(), and setMaxIterations().

◆ _residual

template<typename MatrixType>

double g2o::LinearSolverPCG< MatrixType >::_residual

protected

Definition at line 80 of file linear_solver_pcg.h.

Referenced by init().

◆ _sparseMat

template<typename MatrixType>

MatrixPtrVector g2o::LinearSolverPCG< MatrixType >::_sparseMat

protected

Definition at line 88 of file linear_solver_pcg.h.

Referenced by init().

◆ _tolerance

template<typename MatrixType>

double g2o::LinearSolverPCG< MatrixType >::_tolerance

protected

Definition at line 79 of file linear_solver_pcg.h.

Referenced by setTolerance(), and tolerance().

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

/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg/linear_solver_pcg.h
/build/reproducible-path/g2o-0~20230806/g2o/solvers/pcg/linear_solver_pcg.hpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MatrixPtrVector

◆ MatrixVector

Constructor & Destructor Documentation

◆ LinearSolverPCG()

◆ ~LinearSolverPCG()

Member Function Documentation

◆ absoluteTolerance()

◆ init()

◆ maxIterations()

◆ mult()

◆ multDiag() [1/2]

◆ multDiag() [2/2]

◆ setAbsoluteTolerance()

◆ setMaxIterations()

◆ setTolerance()

◆ solve()

◆ tolerance()

Member Data Documentation

◆ _absoluteTolerance

◆ _diag

◆ _indices

◆ _J

◆ _maxIter

◆ _residual

◆ _sparseMat

◆ _tolerance