From d10c1548da4b06b0c15b52e9af113bb155a711f0 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <jcarpent@laas.fr>
Date: Wed, 29 Aug 2018 13:19:32 +0200
Subject: [PATCH] [Preconditionner] The preconditionner has been fixed in Eigen
3.3.5
---
.../solvers/LeastSquaresConjugateGradient.hpp | 63 +------------------
src/solvers/solvers.cpp | 2 +-
2 files changed, 2 insertions(+), 63 deletions(-)
diff --git a/include/eigenpy/solvers/LeastSquaresConjugateGradient.hpp b/include/eigenpy/solvers/LeastSquaresConjugateGradient.hpp
index 43957f1b..2d9e7617 100644
--- a/include/eigenpy/solvers/LeastSquaresConjugateGradient.hpp
+++ b/include/eigenpy/solvers/LeastSquaresConjugateGradient.hpp
@@ -1,5 +1,5 @@
/*
- * Copyright 2017, Justin Carpentier, LAAS-CNRS
+ * Copyright 2017-2018, Justin Carpentier, LAAS-CNRS
*
* This file is part of eigenpy.
* eigenpy is free software: you can redistribute it and/or
@@ -22,67 +22,6 @@
#include "eigenpy/solvers/IterativeSolverBase.hpp"
-namespace Eigen
-{
- template <typename _Scalar>
- class LeastSquareDiagonalPreconditionerFix
- : public LeastSquareDiagonalPreconditioner<_Scalar>
- {
- typedef _Scalar Scalar;
- typedef typename NumTraits<Scalar>::Real RealScalar;
- typedef LeastSquareDiagonalPreconditioner<_Scalar> Base;
- using DiagonalPreconditioner<_Scalar>::m_invdiag;
- public:
-
- LeastSquareDiagonalPreconditionerFix() : Base() {}
-
- template<typename MatType>
- explicit LeastSquareDiagonalPreconditionerFix(const MatType& mat) : Base()
- {
- compute(mat);
- }
-
- template<typename MatType>
- LeastSquareDiagonalPreconditionerFix& analyzePattern(const MatType& )
- {
- return *this;
- }
-
- template<typename MatType>
- LeastSquareDiagonalPreconditionerFix& factorize(const MatType& mat)
- {
- // Compute the inverse squared-norm of each column of mat
- m_invdiag.resize(mat.cols());
- if(MatType::IsRowMajor)
- {
- m_invdiag.setZero();
- for(Index j=0; j<mat.outerSize(); ++j)
- {
- for(typename MatType::InnerIterator it(mat,j); it; ++it)
- m_invdiag(it.index()) += numext::abs2(it.value());
- }
- for(Index j=0; j<mat.cols(); ++j)
- if(numext::real(m_invdiag(j))>RealScalar(0))
- m_invdiag(j) = RealScalar(1)/numext::real(m_invdiag(j));
- }
- else
- {
- for(Index j=0; j<mat.outerSize(); ++j)
- {
- RealScalar sum = mat.col(j).squaredNorm();
- if(sum>RealScalar(0))
- m_invdiag(j) = RealScalar(1)/sum;
- else
- m_invdiag(j) = RealScalar(1);
- }
- }
- Base::m_isInitialized = true;
- return *this;
- }
-
- };
-}
-
namespace eigenpy
{
diff --git a/src/solvers/solvers.cpp b/src/solvers/solvers.cpp
index 8a30217d..1317b2dc 100644
--- a/src/solvers/solvers.cpp
+++ b/src/solvers/solvers.cpp
@@ -32,7 +32,7 @@ namespace eigenpy
using namespace Eigen;
ConjugateGradientVisitor< ConjugateGradient<MatrixXd,Lower|Upper> >::expose();
#if EIGEN_VERSION_AT_LEAST(3,3,5)
- LeastSquaresConjugateGradientVisitor< LeastSquaresConjugateGradient<MatrixXd, LeastSquareDiagonalPreconditionerFix<MatrixXd::Scalar> > >::expose();
+ LeastSquaresConjugateGradientVisitor< LeastSquaresConjugateGradient<MatrixXd, LeastSquareDiagonalPreconditioner<MatrixXd::Scalar> > >::expose();
#endif
// Conjugate gradient with limited BFGS preconditioner
--
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