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>
#include <gtsam/linear/SubgraphBuilder.h>

#include <map>
#include <utility>  // pair

namespace gtsam {

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

struct GTSAM_EXPORT SubgraphSolverParameters
    : public ConjugateGradientParameters {
  SubgraphBuilderParameters builderParams;
  explicit SubgraphSolverParameters(const SubgraphBuilderParameters &p = SubgraphBuilderParameters())
    : builderParams(p) {}
  void print() const { Base::print(); }
  void print(std::ostream &os) const override {
    Base::print(os);
  }
};

class GTSAM_EXPORT SubgraphSolver : public IterativeSolver {
 public:
  typedef SubgraphSolverParameters Parameters;

 protected:
  Parameters parameters_;
  std::shared_ptr<SubgraphPreconditioner> pc_;  

 public:

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

  SubgraphSolver(const GaussianFactorGraph &Ab1, const GaussianFactorGraph &Ab2,
                 const Parameters &parameters, const Ordering &ordering);
  SubgraphSolver(const GaussianBayesNet &Rc1, const GaussianFactorGraph &Ab2,
                 const Parameters &parameters);

  ~SubgraphSolver() override {}


  VectorValues optimize() const;

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


  std::pair<GaussianFactorGraph, GaussianFactorGraph> splitGraph(
      const GaussianFactorGraph &gfg);

};

}  // namespace gtsam