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