linear_solver_pcg.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
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#ifndef G2O_LINEAR_SOLVER_PCG_H
#define G2O_LINEAR_SOLVER_PCG_H
 
#include <Eigen/Core>
#include <utility>
#include <vector>
 
#include "g2o/core/batch_stats.h"
#include "g2o/core/linear_solver.h"
 
namespace g2o {

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