Implementation of the Gauss Newton Algorithm. More...

Inheritance diagram for g2o::OptimizationAlgorithmGaussNewton:

Public Member Functions
	OptimizationAlgorithmGaussNewton (Solver *solver)

virtual void	printVerbose (std::ostream &os) const

virtual SolverResult	solve (int iteration, bool online=false)

virtual	~OptimizationAlgorithmGaussNewton ()

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 ()

Additional Inherited Members
Public Types inherited from g2o::OptimizationAlgorithm
enum	SolverResult { Terminate =2, OK =1, Fail =-1 }

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 the Gauss Newton Algorithm.

Constructor & Destructor Documentation

g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton ( Solver * solver )

explicit

construct the Gauss Newton algorithm, which use the given Solver for solving the linearized system.

g2o::OptimizationAlgorithmGaussNewton::~OptimizationAlgorithmGaussNewton ( )

virtual

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

virtual

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

OptimizationAlgorithm::SolverResult g2o::OptimizationAlgorithmGaussNewton::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

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