GaussNewtonOptimizer.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
19 #pragma once
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22 
23 namespace gtsam {
24 
25 class GaussNewtonOptimizer;
26 
30 class GTSAM_EXPORT GaussNewtonParams : public NonlinearOptimizerParams {
31 public:
33 };
34 
38 class GTSAM_EXPORT GaussNewtonOptimizer : public NonlinearOptimizer {
39 
40 protected:
42 
43 public:
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55  GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
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65  GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
66  const Ordering& ordering);
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71 
73  ~GaussNewtonOptimizer() override {}
74 
79  GaussianFactorGraph::shared_ptr iterate() override;
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82  const GaussNewtonParams& params() const { return params_; }
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85 
86 protected:
88  const NonlinearOptimizerParams& _params() const override { return params_; }
89 
91  GaussNewtonParams ensureHasOrdering(GaussNewtonParams params, const NonlinearFactorGraph& graph) const;
92 
93 };
94 
95 }
NonlinearFactorGraph graph
static enum @1107 ordering
const GaussNewtonParams & params() const
static const SmartProjectionParams params
std::shared_ptr< This > shared_ptr
shared_ptr to this class
traits
Definition: chartTesting.h:28
const NonlinearOptimizerParams & _params() const override
Base class and parameters for nonlinear optimization algorithms.


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autogenerated on Tue Jul 4 2023 02:34:15