NonlinearOptimizer.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/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearOptimizerParams.h>
 
#include <memory>
 
namespace gtsam {
 
namespace internal {
class CholmodSolver;
struct NonlinearOptimizerState;
}
class NonlinearMultifrontalSolver;

class GTSAM_EXPORT NonlinearOptimizer {
 protected:
  std::shared_ptr<const NonlinearFactorGraph>
      graph_;  
 
  std::unique_ptr<internal::NonlinearOptimizerState> state_;  

  mutable std::unique_ptr<NonlinearMultifrontalSolver>
      nonlinearMultifrontalSolver_;

  mutable std::unique_ptr<internal::CholmodSolver> cholmodSolver_;
 
 private:
  struct IndexedJunctionTreeCache;
  mutable std::unique_ptr<IndexedJunctionTreeCache> indexedJunctionTreeCache_;
 
 public:
  using shared_ptr = std::shared_ptr<const NonlinearOptimizer>;


  virtual const Values& optimize() {
    defaultOptimize();
    return values();
  }

  const Values& optimizeSafely();

  double error() const;

  size_t iterations() const;

  const Values& values() const;

  const NonlinearFactorGraph& graph() const { return *graph_; }



  virtual ~NonlinearOptimizer();

  virtual VectorValues solve(const GaussianFactorGraph& gfg,
                             const NonlinearOptimizerParams& params) const;

  virtual GaussianFactorGraph::shared_ptr iterate() = 0;

 
 protected:
  void defaultOptimize();
 
  virtual const NonlinearOptimizerParams& _params() const = 0;

  virtual bool ensureMultifrontalSolver(
      const NonlinearOptimizerParams& params, const Values& values) const;

  NonlinearOptimizer(const NonlinearFactorGraph& graph,
                     std::unique_ptr<internal::NonlinearOptimizerState> state);
};

GTSAM_EXPORT bool checkConvergence(
    double relativeErrorThreshold, double absoluteErrorThreshold,
    double errorThreshold, double currentError, double newError,
    NonlinearOptimizerParams::Verbosity verbosity =
        NonlinearOptimizerParams::SILENT);
 
GTSAM_EXPORT bool checkConvergence(const NonlinearOptimizerParams& params,
                                   double currentError, double newError);
 
}  // namespace gtsam