gtsam::DoglegOptimizer Class Reference

Detailed Description

This class performs Dogleg nonlinear optimization.

Inheritance diagram for gtsam::DoglegOptimizer:

Public Member Functions
Standard interface
	DoglegOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const DoglegParams &params=DoglegParams())
	Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. More...
	DoglegOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Ordering &ordering)
	Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. More...
Advanced interface
virtual	~DoglegOptimizer ()
	Virtual destructor.
GaussianFactorGraph::shared_ptr	iterate () override
	Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor graph.
const DoglegParams &	params () const
	Read-only access the parameters.
double	getDelta () const
	Access the current trust region radius delta.
Public Member Functions inherited from gtsam::NonlinearOptimizer
virtual const Values &	optimize ()
	Optimize for the maximum-likelihood estimate, returning a the optimized variable assignments. More...
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 boost::shared_ptr< DoglegOptimizer >	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
virtual const NonlinearOptimizerParams &	_params () const override
	Access the parameters (base class version)
DoglegParams	ensureHasOrdering (DoglegParams params, const NonlinearFactorGraph &graph) const
	Internal function for computing a COLAMD ordering if no ordering is specified.
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
DoglegParams	params_
Protected Attributes inherited from gtsam::NonlinearOptimizer
NonlinearFactorGraph	graph_
	The graph with nonlinear factors.
std::unique_ptr< internal::NonlinearOptimizerState >	state_
	PIMPL'd state.

Constructor & Destructor Documentation

DoglegOptimizer() [1/2]

gtsam::DoglegOptimizer::DoglegOptimizer	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const DoglegParams &	params = DoglegParams()
	)

Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters.

For convenience this version takes plain objects instead of shared pointers, but internally copies the objects.

Parameters

graph	The nonlinear factor graph to optimize
initialValues	The initial variable assignments
params	The optimization parameters

DoglegOptimizer() [2/2]

gtsam::DoglegOptimizer::DoglegOptimizer	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const Ordering &	ordering
	)

Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters.

For convenience this version takes plain objects instead of shared pointers, but internally copies the objects.

Parameters

graph	The nonlinear factor graph to optimize
initialValues	The initial variable assignments

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

• /Users/dellaert/git/gtsam/gtsam/nonlinear/DoglegOptimizer.h
• /Users/dellaert/git/gtsam/gtsam/nonlinear/DoglegOptimizer.cpp