NonlinearOptimizer.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
20 
23 
24 namespace gtsam {
25 
26 namespace internal { struct NonlinearOptimizerState; }
27 
75 class GTSAM_EXPORT NonlinearOptimizer {
76 
77 protected:
79 
80  std::unique_ptr<internal::NonlinearOptimizerState> state_;
81 
82 public:
84  using shared_ptr = std::shared_ptr<const NonlinearOptimizer>;
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88 
98  virtual const Values& optimize() { defaultOptimize(); return values(); }
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106  const Values& optimizeSafely();
107 
109  double error() const;
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112  size_t iterations() const;
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115  const Values &values() const;
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118  const NonlinearFactorGraph &graph() const { return graph_; }
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121 
124 
126  virtual ~NonlinearOptimizer();
127 
129  virtual VectorValues solve(const GaussianFactorGraph &gfg,
130  const NonlinearOptimizerParams& params) const;
131 
136  virtual GaussianFactorGraph::shared_ptr iterate() = 0;
137 
139 
140 protected:
144  void defaultOptimize();
145 
146  virtual const NonlinearOptimizerParams& _params() const = 0;
147 
150  std::unique_ptr<internal::NonlinearOptimizerState> state);
151 };
152 
157 GTSAM_EXPORT bool checkConvergence(double relativeErrorTreshold,
158  double absoluteErrorTreshold, double errorThreshold,
159  double currentError, double newError, NonlinearOptimizerParams::Verbosity verbosity = NonlinearOptimizerParams::SILENT);
160 
161 GTSAM_EXPORT bool checkConvergence(const NonlinearOptimizerParams& params, double currentError,
162  double newError);
163 
164 } // gtsam
const NonlinearFactorGraph & graph() const
return the graph with nonlinear factors
virtual const Values & optimize()
Factor Graph consisting of non-linear factors.
leaf::MyValues values
NonlinearFactorGraph graph
static const SmartProjectionParams params
bool checkConvergence(double relativeErrorTreshold, double absoluteErrorTreshold, double errorThreshold, double currentError, double newError, NonlinearOptimizerParams::Verbosity verbosity)
std::unique_ptr< internal::NonlinearOptimizerState > state_
PIMPL&#39;d state.
std::shared_ptr< This > shared_ptr
shared_ptr to this class
std::shared_ptr< const NonlinearOptimizer > shared_ptr
traits
Definition: chartTesting.h:28
NonlinearFactorGraph graph_
The graph with nonlinear factors.
static double error
Definition: testRot3.cpp:37
Parameters for nonlinear optimization.


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autogenerated on Tue Jul 4 2023 02:34:57