gtsam::NonlinearConjugateGradientOptimizer Class Reference

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.
	~NonlinearConjugateGradientOptimizer () override
	Destructor.
GaussianFactorGraph::shared_ptr	iterate () override
	Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor graph. More...
const Values &	optimize () override
	Optimize for the maximum-likelihood estimate, returning a the optimized variable assignments. More...
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 in current optimizer state
size_t	iterations () const
	return number of iterations in current optimizer state
const Values &	values () const
	return values in current optimizer state
const NonlinearFactorGraph &	graph () const
	return the graph with nonlinear factors
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
using	shared_ptr = boost::shared_ptr< const NonlinearOptimizer >
	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.
virtual const NonlinearOptimizerParams &	_params () const =0
	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.

Member Function Documentation

_params()

const NonlinearOptimizerParams & gtsam::NonlinearConjugateGradientOptimizer::_params ( ) const

inlineoverrideprotectedvirtual

Implements gtsam::NonlinearOptimizer.

iterate()

GaussianFactorGraph::shared_ptr gtsam::NonlinearConjugateGradientOptimizer::iterate ( void  )

overridevirtual

Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor graph.

Implements gtsam::NonlinearOptimizer.

optimize()

const Values & gtsam::NonlinearConjugateGradientOptimizer::optimize ( )

overridevirtual

Optimize for the maximum-likelihood estimate, returning a the optimized variable assignments.

Reimplemented from gtsam::NonlinearOptimizer.

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

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