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>
 
namespace gtsam {
 
namespace internal { struct NonlinearOptimizerState; }
 
class GTSAM_EXPORT NonlinearOptimizer {
 
protected:
  NonlinearFactorGraph graph_; 
 
  std::unique_ptr<internal::NonlinearOptimizerState> state_; 
 
public:
  using shared_ptr = boost::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;
 
  NonlinearOptimizer(const NonlinearFactorGraph& graph,
                     std::unique_ptr<internal::NonlinearOptimizerState> state);
};
 
GTSAM_EXPORT bool checkConvergence(double relativeErrorTreshold,
    double absoluteErrorTreshold, double errorThreshold,
    double currentError, double newError, NonlinearOptimizerParams::Verbosity verbosity = NonlinearOptimizerParams::SILENT);
 
GTSAM_EXPORT bool checkConvergence(const NonlinearOptimizerParams& params, double currentError,
                                   double newError);
 
} // gtsam