gtsam::GaussNewtonOptimizer Class Reference
Detailed Description
This class performs Gauss-Newton nonlinear optimization.
Inheritance diagram for gtsam::GaussNewtonOptimizer:
Public Member Functions | |
Standard interface | |
| GaussNewtonOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const GaussNewtonParams ¶ms=GaussNewtonParams()) | |
| Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. More... | |
| GaussNewtonOptimizer (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 | |
| ~GaussNewtonOptimizer () override | |
| Virtual destructor. | |
| GaussianFactorGraph::shared_ptr | iterate () override |
| Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor graph. More... | |
| const GaussNewtonParams & | params () const |
| Read-only access the parameters. | |
| 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 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 ¶ms) const |
| Default function to do linear solve, i.e. More... | |
Protected Member Functions | |
| const NonlinearOptimizerParams & | _params () const override |
| Access the parameters (base class version) More... | |
| GaussNewtonParams | ensureHasOrdering (GaussNewtonParams 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. | |
| virtual const NonlinearOptimizerParams & | _params () const =0 |
| NonlinearOptimizer (const NonlinearFactorGraph &graph, std::unique_ptr< internal::NonlinearOptimizerState > state) | |
| Constructor for initial construction of base classes. More... | |
Protected Attributes | |
| GaussNewtonParams | params_ |
| Protected Attributes inherited from gtsam::NonlinearOptimizer | |
| NonlinearFactorGraph | graph_ |
| The graph with nonlinear factors. | |
| std::unique_ptr< internal::NonlinearOptimizerState > | state_ |
| PIMPL'd state. | |
Additional Inherited Members | |
| Public Types inherited from gtsam::NonlinearOptimizer | |
| using | shared_ptr = boost::shared_ptr< const NonlinearOptimizer > |
| A shared pointer to this class. | |
Constructor & Destructor Documentation
◆ GaussNewtonOptimizer() [1/2]
| gtsam::GaussNewtonOptimizer::GaussNewtonOptimizer | ( | const NonlinearFactorGraph & | graph, |
| const Values & | initialValues, | ||
| const GaussNewtonParams & | params = GaussNewtonParams() |
||
| ) |
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
◆ GaussNewtonOptimizer() [2/2]
| gtsam::GaussNewtonOptimizer::GaussNewtonOptimizer | ( | 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
Member Function Documentation
◆ _params()
|
inlineoverrideprotectedvirtual |
Access the parameters (base class version)
Implements gtsam::NonlinearOptimizer.
◆ iterate()
|
overridevirtual |
Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor graph.
Implements gtsam::NonlinearOptimizer.
The documentation for this class was generated from the following files:
- /Users/dellaert/git/github/gtsam/nonlinear/GaussNewtonOptimizer.h
- /Users/dellaert/git/github/gtsam/nonlinear/GaussNewtonOptimizer.cpp
