Detailed Description

An implementation of the nonlinear CG method using the template below.

Inheritance diagram for gtsam::NonlinearConjugateGradientOptimizer:

Public Member Functions
	NonlinearConjugateGradientOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Parameters &params=Parameters())
	Constructor.

virtual	~NonlinearConjugateGradientOptimizer ()
	Destructor.

GaussianFactorGraph::shared_ptr	iterate () override
	Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor graph.

const Values &	optimize () override
	Optimize for the maximum-likelihood estimate, returning a the optimized variable assignments.

Public Member Functions inherited from gtsam::NonlinearOptimizer
const Values &	optimizeSafely ()
	Optimize, but return empty result if any uncaught exception is thrown Intended for MATLAB. More...

double	error () const
	return error

size_t	iterations () const
	return number of iterations

const Values &	values () const
	return values

virtual	~NonlinearOptimizer ()
	Virtual destructor.

virtual VectorValues	solve (const GaussianFactorGraph &gfg, const NonlinearOptimizerParams &params) const
	Default function to do linear solve, i.e. More...

Public Types
typedef NonlinearOptimizer	Base

typedef NonlinearOptimizerParams	Parameters

typedef boost::shared_ptr< NonlinearConjugateGradientOptimizer >	shared_ptr

Public Types inherited from gtsam::NonlinearOptimizer
typedef boost::shared_ptr< const NonlinearOptimizer >	shared_ptr
	A shared pointer to this class.

Protected Member Functions
const NonlinearOptimizerParams &	_params () const override

Protected Member Functions inherited from gtsam::NonlinearOptimizer
void	defaultOptimize ()
	A default implementation of the optimization loop, which calls iterate() until checkConvergence returns true.

	NonlinearOptimizer (const NonlinearFactorGraph &graph, std::unique_ptr< internal::NonlinearOptimizerState > state)
	Constructor for initial construction of base classes. More...

Protected Attributes
Parameters	params_

Protected Attributes inherited from gtsam::NonlinearOptimizer
NonlinearFactorGraph	graph_
	The graph with nonlinear factors.

std::unique_ptr< internal::NonlinearOptimizerState >	state_
	PIMPL'd state.

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

/Users/dellaert/git/gtsam/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
/Users/dellaert/git/gtsam/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp

Public Member Functions