gtsam  4.1.0
gtsam
NonlinearOptimizer.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
19 #pragma once
20 
23 
24 namespace gtsam {
25 
26 namespace internal { struct NonlinearOptimizerState; }
27 
75 class GTSAM_EXPORT NonlinearOptimizer {
76 
77 protected:
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80  std::unique_ptr<internal::NonlinearOptimizerState> state_;
81 
82 public:
84  using shared_ptr = boost::shared_ptr<const NonlinearOptimizer>;
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88 
98  virtual const Values& optimize() { defaultOptimize(); return values(); }
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106  const Values& optimizeSafely();
107 
109  double error() const;
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112  size_t iterations() const;
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115  const Values &values() const;
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118  const NonlinearFactorGraph &graph() const { return graph_; }
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121 
124 
126  virtual ~NonlinearOptimizer();
127 
129  virtual VectorValues solve(const GaussianFactorGraph &gfg,
130  const NonlinearOptimizerParams& params) const;
131 
137 
139 
140 protected:
144  void defaultOptimize();
145 
146  virtual const NonlinearOptimizerParams& _params() const = 0;
147 
150  std::unique_ptr<internal::NonlinearOptimizerState> state);
151 };
152 
157 GTSAM_EXPORT bool checkConvergence(double relativeErrorTreshold,
158  double absoluteErrorTreshold, double errorThreshold,
159  double currentError, double newError, NonlinearOptimizerParams::Verbosity verbosity = NonlinearOptimizerParams::SILENT);
160 
161 GTSAM_EXPORT bool checkConvergence(const NonlinearOptimizerParams& params, double currentError,
162  double newError);
163 
164 } // gtsam
gtsam::NonlinearOptimizer
This is the abstract interface for classes that can optimize for the maximum-likelihood estimate of a...
Definition: NonlinearOptimizer.h:75
gtsam::GaussianFactorGraph
A Linear Factor Graph is a factor graph where all factors are Gaussian, i.e.
Definition: GaussianFactorGraph.h:68
gtsam::NonlinearOptimizer::state_
std::unique_ptr< internal::NonlinearOptimizerState > state_
PIMPL'd state.
Definition: NonlinearOptimizer.h:80
gtsam::NonlinearOptimizer::shared_ptr
boost::shared_ptr< const NonlinearOptimizer > shared_ptr
A shared pointer to this class.
Definition: NonlinearOptimizer.h:84
gtsam::NonlinearFactorGraph
A non-linear factor graph is a graph of non-Gaussian, i.e.
Definition: NonlinearFactorGraph.h:78
gtsam::checkConvergence
bool checkConvergence(double relativeErrorTreshold, double absoluteErrorTreshold, double errorThreshold, double currentError, double newError, NonlinearOptimizerParams::Verbosity verbosity)
Check whether the relative error decrease is less than relativeErrorTreshold, the absolute error decr...
Definition: NonlinearOptimizer.cpp:183
gtsam::NonlinearOptimizer::optimize
virtual const Values & optimize()
Optimize for the maximum-likelihood estimate, returning a the optimized variable assignments.
Definition: NonlinearOptimizer.h:98
gtsam::NonlinearOptimizer::graph_
NonlinearFactorGraph graph_
The graph with nonlinear factors.
Definition: NonlinearOptimizer.h:78
gtsam::NonlinearOptimizerParams
The common parameters for Nonlinear optimizers.
Definition: NonlinearOptimizerParams.h:34
gtsam::VectorValues
This class represents a collection of vector-valued variables associated each with a unique integer i...
Definition: VectorValues.h:74
gtsam::NonlinearOptimizer::graph
const NonlinearFactorGraph & graph() const
return the graph with nonlinear factors
Definition: NonlinearOptimizer.h:118
NonlinearFactorGraph.h
Factor Graph Constsiting of non-linear factors.
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
NonlinearOptimizerParams.h
Parameters for nonlinear optimization.
gtsam::NonlinearOptimizerParams::Verbosity
Verbosity
See NonlinearOptimizerParams::verbosity.
Definition: NonlinearOptimizerParams.h:37
gtsam::NonlinearOptimizer::iterate
virtual GaussianFactorGraph::shared_ptr iterate()=0
Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor grap...
gtsam::Values
A non-templated config holding any types of Manifold-group elements.
Definition: Values.h:71
gtsam::GaussianFactorGraph::shared_ptr
boost::shared_ptr< This > shared_ptr
shared_ptr to this class
Definition: GaussianFactorGraph.h:74