SubgraphSolver.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/linear/ConjugateGradientSolver.h>

namespace gtsam {

// Forward declarations
class GaussianFactorGraph;
class GaussianBayesNet;
class SubgraphPreconditioner;

class GTSAM_EXPORT SubgraphSolverParameters: public ConjugateGradientParameters {
public:
  typedef ConjugateGradientParameters Base;
  SubgraphSolverParameters() :
      Base() {
  }
  void print() const {
    Base::print();
  }
  virtual void print(std::ostream &os) const {
    Base::print(os);
  }
};

class GTSAM_EXPORT SubgraphSolver: public IterativeSolver {

public:
  typedef SubgraphSolverParameters Parameters;

protected:
  Parameters parameters_;
  Ordering ordering_;
  boost::shared_ptr<SubgraphPreconditioner> pc_; 

public:

  SubgraphSolver(const GaussianFactorGraph &A, const Parameters &parameters,
      const Ordering& ordering);

  SubgraphSolver(const boost::shared_ptr<GaussianFactorGraph> &A,
      const Parameters &parameters, const Ordering& ordering);

  SubgraphSolver(const GaussianFactorGraph &Ab1, const GaussianFactorGraph &Ab2,
      const Parameters &parameters, const Ordering& ordering);

  SubgraphSolver(const boost::shared_ptr<GaussianFactorGraph> &Ab1,
      const boost::shared_ptr<GaussianFactorGraph> &Ab2,
      const Parameters &parameters, const Ordering& ordering);

  /* The same as above, but the A1 is solved before */
  SubgraphSolver(const boost::shared_ptr<GaussianBayesNet> &Rc1,
      const GaussianFactorGraph &Ab2, const Parameters &parameters,
      const Ordering& ordering);

  SubgraphSolver(const boost::shared_ptr<GaussianBayesNet> &Rc1,
      const boost::shared_ptr<GaussianFactorGraph> &Ab2,
      const Parameters &parameters, const Ordering& ordering);

  virtual ~SubgraphSolver() {
  }

  VectorValues optimize();

  VectorValues optimize(const VectorValues &initial);

  virtual VectorValues optimize(const GaussianFactorGraph &gfg,
      const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
      const VectorValues &initial);

protected:

  void initialize(const GaussianFactorGraph &jfg);
  void initialize(const boost::shared_ptr<GaussianBayesNet> &Rc1,
      const boost::shared_ptr<GaussianFactorGraph> &Ab2);

  boost::tuple<boost::shared_ptr<GaussianFactorGraph>,
      boost::shared_ptr<GaussianFactorGraph> >
  splitGraph(const GaussianFactorGraph &gfg);
};

} // namespace gtsam