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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(), const DirectionMethod &directionMethod=DirectionMethod::PolakRibiere)
 Constructor.
 ~NonlinearConjugateGradientOptimizer () override
 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.
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.

Public Types

typedef NonlinearOptimizer Base
typedef NonlinearOptimizerParams Parameters
typedef std::shared_ptr< NonlinearConjugateGradientOptimizer > shared_ptr
Public Types inherited from gtsam::NonlinearOptimizer
using shared_ptr = std::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 bool ensureMultifrontalSolver (const NonlinearOptimizerParams &params, const Values &values) const
 Ensure that the nonlinearMultifrontalSolver_ is populated if (and only if) the params request the multifrontal Cholesky solver type (e.g., MULTIFRONTAL_SOLVER).
 NonlinearOptimizer (const NonlinearFactorGraph &graph, std::unique_ptr< internal::NonlinearOptimizerState > state)
 Constructor for initial construction of base classes.

Protected Attributes

Parameters params_
DirectionMethod directionMethod_ = DirectionMethod::PolakRibiere
Protected Attributes inherited from gtsam::NonlinearOptimizer
std::shared_ptr< const NonlinearFactorGraph > graph_
 The graph with nonlinear factors.
std::unique_ptr< internal::NonlinearOptimizerState > state_
 PIMPL'd state.
std::unique_ptr< NonlinearMultifrontalSolver > nonlinearMultifrontalSolver_
 Solver for multifrontal Cholesky, lazily created.
std::unique_ptr< internal::CholmodSolver > cholmodSolver_
 Optional reusable CHOLMOD numerical and symbolic session.

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.

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