gtsam  4.1.0
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())
virtual ~NonlinearConjugateGradientOptimizer ()
GaussianFactorGraph::shared_ptr iterate () override
 Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor graph.
const Valuesoptimize () override
 Optimize for the maximum-likelihood estimate, returning a the optimized variable assignments.
- Public Member Functions inherited from gtsam::NonlinearOptimizer
const ValuesoptimizeSafely ()
 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 Valuesvalues () const
 return values in current optimizer state
const NonlinearFactorGraphgraph () 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< NonlinearConjugateGradientOptimizershared_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.
 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.

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