g2o::OptimizationAlgorithmDogleg Class Reference

Implementation of Powell's Dogleg Algorithm. More...

#include <optimization_algorithm_dogleg.h>

Inheritance diagram for g2o::OptimizationAlgorithmDogleg:

Public Types
enum	{ STEP_UNDEFINED, STEP_SD, STEP_GN, STEP_DL }
	type of the step to take More...
Public Types inherited from g2o::OptimizationAlgorithm
enum	SolverResult { Terminate =2, OK =1, Fail =-1 }

Public Member Functions
int	lastStep () const
	return the type of the last step taken by the algorithm More...
	OptimizationAlgorithmDogleg (BlockSolverBase *solver)
virtual void	printVerbose (std::ostream &os) const
virtual SolverResult	solve (int iteration, bool online=false)
double	trustRegion () const
	return the diameter of the trust region More...
virtual	~OptimizationAlgorithmDogleg ()
Public Member Functions inherited from g2o::OptimizationAlgorithmWithHessian
virtual bool	buildLinearStructure ()
virtual bool	computeMarginals (SparseBlockMatrix< MatrixXd > &spinv, const std::vector< std::pair< int, int > > &blockIndices)
virtual bool	init (bool online=false)
	OptimizationAlgorithmWithHessian (Solver *solver)
virtual void	setWriteDebug (bool writeDebug)
Solver *	solver ()
	return the underlying solver used to solve the linear system More...
virtual void	updateLinearSystem ()
virtual bool	updateStructure (const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)
virtual bool	writeDebug () const
virtual	~OptimizationAlgorithmWithHessian ()
Public Member Functions inherited from g2o::OptimizationAlgorithm
	OptimizationAlgorithm ()
const SparseOptimizer *	optimizer () const
	return the optimizer operating on More...
SparseOptimizer *	optimizer ()
void	printProperties (std::ostream &os) const
const PropertyMap &	properties () const
	return the properties of the solver More...
void	setOptimizer (SparseOptimizer *optimizer)
bool	updatePropertiesFromString (const std::string &propString)
virtual	~OptimizationAlgorithm ()

Static Public Member Functions
static const char *	stepType2Str (int stepType)
	convert the type into an integer More...

Protected Attributes
Eigen::VectorXd	_auxVector
	auxilary vector used to perform multiplications or other stuff More...
double	_currentLambda
	the damping factor to force positive definite matrix More...
double	_delta
	trust region More...
Eigen::VectorXd	_hdl
	final dogleg step More...
Eigen::VectorXd	_hsd
	steepest decent step More...
Property< double > *	_initialLambda
Property< double > *	_lamdbaFactor
int	_lastNumTries
int	_lastStep
	type of the step taken by the algorithm More...
Property< int > *	_maxTrialsAfterFailure
Property< double > *	_userDeltaInit
bool	_wasPDInAllIterations
	the matrix we solve was positive definite in all iterations -> if not apply damping More...
Protected Attributes inherited from g2o::OptimizationAlgorithmWithHessian
Solver *	_solver
Property< bool > *	_writeDebug
Protected Attributes inherited from g2o::OptimizationAlgorithm
SparseOptimizer *	_optimizer
	the optimizer the solver is working on More...
PropertyMap	_properties
	the properties of your solver, use this to store the parameters of your solver More...

Detailed Description

Implementation of Powell's Dogleg Algorithm.

Definition at line 39 of file optimization_algorithm_dogleg.h.

Member Enumeration Documentation

anonymous enum

type of the step to take

Enumerator
STEP_UNDEFINED
STEP_SD
STEP_GN
STEP_DL

Definition at line 43 of file optimization_algorithm_dogleg.h.

Constructor & Destructor Documentation

g2o::OptimizationAlgorithmDogleg::OptimizationAlgorithmDogleg ( BlockSolverBase *  solver )

explicit

construct the Dogleg algorithm, which will use the given Solver for solving the linearized system.

Definition at line 41 of file optimization_algorithm_dogleg.cpp.

g2o::OptimizationAlgorithmDogleg::~OptimizationAlgorithmDogleg ( )

virtual

Definition at line 53 of file optimization_algorithm_dogleg.cpp.

Member Function Documentation

int g2o::OptimizationAlgorithmDogleg::lastStep ( ) const

inline

return the type of the last step taken by the algorithm

Definition at line 61 of file optimization_algorithm_dogleg.h.

void g2o::OptimizationAlgorithmDogleg::printVerbose ( std::ostream &  os ) const

virtual

called by the optimizer if verbose. re-implement, if you want to print something

Reimplemented from g2o::OptimizationAlgorithm.

Definition at line 209 of file optimization_algorithm_dogleg.cpp.

OptimizationAlgorithm::SolverResult g2o::OptimizationAlgorithmDogleg::solve ( int  iteration, bool  online = false  )

virtual

Solve one iteration. The SparseOptimizer running on-top will call this for the given number of iterations.

Parameters

iteration

indicates the current iteration

Implements g2o::OptimizationAlgorithm.

Definition at line 57 of file optimization_algorithm_dogleg.cpp.

const char * g2o::OptimizationAlgorithmDogleg::stepType2Str ( int  stepType )

static

convert the type into an integer

Definition at line 219 of file optimization_algorithm_dogleg.cpp.

double g2o::OptimizationAlgorithmDogleg::trustRegion ( ) const

inline

return the diameter of the trust region

Definition at line 63 of file optimization_algorithm_dogleg.h.

Member Data Documentation

Eigen::VectorXd g2o::OptimizationAlgorithmDogleg::_auxVector

protected

auxilary vector used to perform multiplications or other stuff

Definition at line 78 of file optimization_algorithm_dogleg.h.

double g2o::OptimizationAlgorithmDogleg::_currentLambda

protected

the damping factor to force positive definite matrix

Definition at line 80 of file optimization_algorithm_dogleg.h.

double g2o::OptimizationAlgorithmDogleg::_delta

protected

trust region

Definition at line 81 of file optimization_algorithm_dogleg.h.

Eigen::VectorXd g2o::OptimizationAlgorithmDogleg::_hdl

protected

final dogleg step

Definition at line 77 of file optimization_algorithm_dogleg.h.

Eigen::VectorXd g2o::OptimizationAlgorithmDogleg::_hsd

protected

steepest decent step

Definition at line 76 of file optimization_algorithm_dogleg.h.

Property<double>* g2o::OptimizationAlgorithmDogleg::_initialLambda

protected

Definition at line 73 of file optimization_algorithm_dogleg.h.

Property<double>* g2o::OptimizationAlgorithmDogleg::_lamdbaFactor

protected

Definition at line 74 of file optimization_algorithm_dogleg.h.

int g2o::OptimizationAlgorithmDogleg::_lastNumTries

protected

Definition at line 84 of file optimization_algorithm_dogleg.h.

int g2o::OptimizationAlgorithmDogleg::_lastStep

protected

type of the step taken by the algorithm

Definition at line 82 of file optimization_algorithm_dogleg.h.

Property<int>* g2o::OptimizationAlgorithmDogleg::_maxTrialsAfterFailure

protected

Definition at line 70 of file optimization_algorithm_dogleg.h.

Property<double>* g2o::OptimizationAlgorithmDogleg::_userDeltaInit

protected

Definition at line 71 of file optimization_algorithm_dogleg.h.

bool g2o::OptimizationAlgorithmDogleg::_wasPDInAllIterations

protected

the matrix we solve was positive definite in all iterations -> if not apply damping

Definition at line 83 of file optimization_algorithm_dogleg.h.

---

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

• optimization_algorithm_dogleg.h
• optimization_algorithm_dogleg.cpp