Generic interface for a sparse solver operating on a graph which solves one iteration of the linearized objective function. More...

#include <solver.h>

Inheritance diagram for g2o::Solver:

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Collaboration diagram for g2o::Solver:

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Public Member Functions
	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

Protected Member Functions
void	resizeVector (size_t sx)

Protected Attributes
SparseOptimizer *	_optimizer

double *	_x

double *	_b

size_t	_xSize

size_t	_maxXSize

bool	_isLevenberg

size_t	_additionalVectorSpace

Private Member Functions
	Solver (const Solver &)

Solver &	operator= (const Solver &)

Detailed Description

Generic interface for a sparse solver operating on a graph which solves one iteration of the linearized objective function.

Definition at line 44 of file solver.h.

Constructor & Destructor Documentation

◆ Solver() [1/2]

g2o::Solver::Solver ( )

Definition at line 36 of file solver.cpp.

    : _optimizer(0),
      _x(0),
      _b(0),
      _xSize(0),
      _maxXSize(0),
      _isLevenberg(false),
      _additionalVectorSpace(0) {}

◆ ~Solver()

g2o::Solver::~Solver ( )

virtual

Definition at line 45 of file solver.cpp.

                {
  free_aligned(_x);
  free_aligned(_b);
}

References _b, _x, and g2o::free_aligned().

◆ Solver() [2/2]

g2o::Solver::Solver ( const Solver & )

inlineprivate

Definition at line 151 of file solver.h.

151{}

Member Function Documentation

◆ additionalVectorSpace()

size_t g2o::Solver::additionalVectorSpace ( ) const

inline

Definition at line 126 of file solver.h.

126{ return _additionalVectorSpace; }

◆ b() [1/2]

double * g2o::Solver::b ( )

inline

return b, the right hand side of the system

Definition at line 101 of file solver.h.

101{ return _b; }

Referenced by g2o::OptimizationAlgorithmLevenberg::computeScale(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), and g2o::OptimizationAlgorithmDogleg::solve().

◆ b() [2/2]

const double * g2o::Solver::b ( ) const

inline

Definition at line 102 of file solver.h.

102{ return _b; }

◆ buildStructure()

virtual bool g2o::Solver::buildStructure ( bool zeroBlocks = false )

pure virtual

build the structure of the system

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::buildLinearStructure(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), g2o::OptimizationAlgorithmDogleg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().

◆ buildSystem()

virtual bool g2o::Solver::buildSystem ( )

pure virtual

build the current system

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), g2o::OptimizationAlgorithmDogleg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmLevenberg::solve(), and g2o::OptimizationAlgorithmWithHessian::updateLinearSystem().

◆ computeMarginals()

virtual bool g2o::Solver::computeMarginals	(	SparseBlockMatrix< MatrixX > &	spinv,
		const std::vector< std::pair< int, int > > &	blockIndices
	)

pure virtual

computes the block diagonal elements of the pattern specified in the input and stores them in given SparseBlockMatrix

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::computeMarginals().

◆ init()

virtual bool g2o::Solver::init	(	SparseOptimizer *	optimizer,
		bool	online = `false`
	)

pure virtual

initialize the solver, called once before the first iteration

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::init().

◆ levenberg()

bool g2o::Solver::levenberg ( ) const

inline

the system is Levenberg-Marquardt

Definition at line 112 of file solver.h.

112{ return _isLevenberg; }

Referenced by setLevenberg().

◆ operator=()

Solver & g2o::Solver::operator= ( const Solver & )

inlineprivate

Definition at line 152 of file solver.h.

152{ return *this; }

◆ optimizer()

SparseOptimizer * g2o::Solver::optimizer ( ) const

inline

the optimizer (graph) on which the solver works

Definition at line 108 of file solver.h.

108{ return _optimizer; }

Referenced by setOptimizer(), g2o::OptimizationAlgorithmDogleg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().

◆ resizeVector()

void g2o::Solver::resizeVector ( size_t sx )

protected

Definition at line 50 of file solver.cpp.

                                   {
  size_t oldSize = _xSize;
  _xSize = sx;
  sx += _additionalVectorSpace;  // allocate some additional space if requested
  if (_maxXSize < sx) {
    _maxXSize = 2 * sx;
    free_aligned(_x);
    _x = allocate_aligned<double>(_maxXSize);
#ifndef NDEBUG
    memset(_x, 0, _maxXSize * sizeof(double));
#endif
    if (_b) {  // backup the former b, might still be needed for online
               // processing
      memcpy(_x, _b, oldSize * sizeof(double));
      free_aligned(_b);
      _b = allocate_aligned<double>(_maxXSize);
      std::swap(_b, _x);
    } else {
      _b = allocate_aligned<double>(_maxXSize);
#ifndef NDEBUG
      memset(_b, 0, _maxXSize * sizeof(double));
#endif
    }
  }
}

References _additionalVectorSpace, _b, _maxXSize, _x, _xSize, and g2o::free_aligned().

◆ restoreDiagonal()

virtual void g2o::Solver::restoreDiagonal ( )

pure virtual

restore a previously made backup of the diagonal

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmDogleg::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().

◆ saveHessian()

virtual bool g2o::Solver::saveHessian ( const std::string & ) const

pure virtual

write the hessian to disk using the specified file name

Implemented in g2o::BlockSolver< Traits >.

◆ schur()

virtual bool g2o::Solver::schur ( )

pure virtual

should the solver perform the schur complement or not

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmGaussNewton::printVerbose(), and g2o::OptimizationAlgorithmLevenberg::printVerbose().

◆ setAdditionalVectorSpace()

void g2o::Solver::setAdditionalVectorSpace ( size_t s )

Definition at line 82 of file solver.cpp.

82{ _additionalVectorSpace = s; }

References _additionalVectorSpace.

Referenced by g2o::SparseOptimizerIncremental::initSolver().

◆ setLambda()

virtual bool g2o::Solver::setLambda	(	double	lambda,
		bool	backup = `false`
	)

pure virtual

update the system while performing Levenberg, i.e., modifying the diagonal components of A by doing += lambda along the main diagonal of the Matrix. Note that this function may be called with a positive and a negative lambda. The latter is used to undo a former modification. If backup is true, then the solver should store a backup of the diagonal, which can be restored by restoreDiagonal()

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmDogleg::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().

◆ setLevenberg()

void g2o::Solver::setLevenberg ( bool levenberg )

Definition at line 80 of file solver.cpp.

80{ _isLevenberg = levenberg; }

g2o::Solver::levenberg

bool levenberg() const

the system is Levenberg-Marquardt

Definition solver.h:112

References _isLevenberg, and levenberg().

◆ setOptimizer()

void g2o::Solver::setOptimizer ( SparseOptimizer * optimizer )

Definition at line 76 of file solver.cpp.

                                                    {
  _optimizer = optimizer;
}

References _optimizer, and optimizer().

◆ setSchur()

virtual void g2o::Solver::setSchur ( bool s )

pure virtual

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::init().

◆ setWriteDebug()

virtual void g2o::Solver::setWriteDebug ( bool )

pure virtual

write debug output of the Hessian if system is not positive definite

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::init().

◆ solve()

virtual bool g2o::Solver::solve ( )

pure virtual

solve Ax = b

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), g2o::OptimizationAlgorithmDogleg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().

◆ supportsSchur()

virtual bool g2o::Solver::supportsSchur ( )

inlinevirtual

does this solver support the Schur complement for solving a system consisting of poses and landmarks. Re-implement in a derived solver, if your solver supports it.

Reimplemented in g2o::BlockSolver< Traits >.

Definition at line 120 of file solver.h.

120{ return false; }

Referenced by g2o::OptimizationAlgorithmWithHessian::init().

◆ updateStructure()

virtual bool g2o::Solver::updateStructure	(	const std::vector< HyperGraph::Vertex * > &	vset,
		const HyperGraph::EdgeSet &	edges
	)

pure virtual

update the structures for online processing

Implemented in g2o::BlockSolver< Traits >.

Referenced by g2o::OptimizationAlgorithmWithHessian::updateStructure().

◆ vectorSize()

size_t g2o::Solver::vectorSize ( ) const

inline

return the size of the solution vector (x) and b

Definition at line 105 of file solver.h.

105{ return _xSize; }

Referenced by g2o::OptimizationAlgorithmLevenberg::computeScale(), and g2o::OptimizationAlgorithmDogleg::solve().

◆ writeDebug()

virtual bool g2o::Solver::writeDebug ( ) const

pure virtual

Implemented in g2o::BlockSolver< Traits >.

◆ x() [1/2]

double * g2o::Solver::x ( )

inline

return x, the solution vector

Definition at line 98 of file solver.h.

98{ return _x; }

Referenced by g2o::OptimizationAlgorithmLevenberg::computeScale(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), g2o::OptimizationAlgorithmDogleg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), and g2o::OptimizationAlgorithmLevenberg::solve().

◆ x() [2/2]

const double * g2o::Solver::x ( ) const

inline

Definition at line 99 of file solver.h.

99{ return _x; }

Member Data Documentation

◆ _additionalVectorSpace

size_t g2o::Solver::_additionalVectorSpace

protected

Definition at line 145 of file solver.h.

Referenced by resizeVector(), and setAdditionalVectorSpace().

◆ _b

double* g2o::Solver::_b

protected

Definition at line 141 of file solver.h.

Referenced by resizeVector(), and ~Solver().

◆ _isLevenberg

bool g2o::Solver::_isLevenberg

protected

the system we gonna solve is a Levenberg-Marquardt system

Definition at line 143 of file solver.h.

Referenced by setLevenberg().

◆ _maxXSize

size_t g2o::Solver::_maxXSize

protected

Definition at line 142 of file solver.h.

Referenced by resizeVector().

◆ _optimizer

SparseOptimizer* g2o::Solver::_optimizer

protected

Definition at line 139 of file solver.h.

Referenced by setOptimizer().

◆ _x

double* g2o::Solver::_x

protected

Definition at line 140 of file solver.h.

Referenced by resizeVector(), and ~Solver().

◆ _xSize

size_t g2o::Solver::_xSize

protected

Definition at line 142 of file solver.h.

Referenced by g2o::BlockSolver< Traits >::BlockSolver(), and resizeVector().

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

/build/reproducible-path/g2o-0~20230806/g2o/core/solver.h
/build/reproducible-path/g2o-0~20230806/g2o/core/solver.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Solver() [1/2]

◆ ~Solver()

◆ Solver() [2/2]

Member Function Documentation

◆ additionalVectorSpace()

◆ b() [1/2]

◆ b() [2/2]

◆ buildStructure()

◆ buildSystem()

◆ computeMarginals()

◆ init()

◆ levenberg()

◆ operator=()

◆ optimizer()

◆ resizeVector()

◆ restoreDiagonal()

◆ saveHessian()

◆ schur()

◆ setAdditionalVectorSpace()

◆ setLambda()

◆ setLevenberg()

◆ setOptimizer()

◆ setSchur()

◆ setWriteDebug()

◆ solve()

◆ supportsSchur()

◆ updateStructure()

◆ vectorSize()

◆ writeDebug()

◆ x() [1/2]

◆ x() [2/2]

Member Data Documentation

◆ _additionalVectorSpace

◆ _b

◆ _isLevenberg

◆ _maxXSize

◆ _optimizer

◆ _x

◆ _xSize