Public Member Functions | Private Attributes | List of all members
IterativeLM Class Reference
Inheritance diagram for IterativeLM:
Inheritance graph
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Public Member Functions

 IterativeLM (const NonlinearFactorGraph &graph, const Values &initialValues, const ConjugateGradientParameters &p, const LevenbergMarquardtParams &params=LevenbergMarquardtParams::LegacyDefaults())
 Constructor. More...
 
VectorValues solve (const GaussianFactorGraph &gfg, const NonlinearOptimizerParams &params) const override
 Solve that uses conjugate gradient. More...
 
- Public Member Functions inherited from gtsam::LevenbergMarquardtOptimizer
 LevenbergMarquardtOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const LevenbergMarquardtParams &params=LevenbergMarquardtParams())
 
 LevenbergMarquardtOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Ordering &ordering, const LevenbergMarquardtParams &params=LevenbergMarquardtParams())
 
 ~LevenbergMarquardtOptimizer () override
 
double lambda () const
 Access the current damping value. More...
 
int getInnerIterations () const
 Access the current number of inner iterations. More...
 
void print (const std::string &str="") const
 print More...
 
GaussianFactorGraph::shared_ptr iterate () override
 
const LevenbergMarquardtParamsparams () const
 
void writeLogFile (double currentError)
 
virtual GaussianFactorGraph::shared_ptr linearize () const
 
GaussianFactorGraph buildDampedSystem (const GaussianFactorGraph &linear, const VectorValues &sqrtHessianDiagonal) const
 
bool tryLambda (const GaussianFactorGraph &linear, const VectorValues &sqrtHessianDiagonal)
 
- Public Member Functions inherited from gtsam::NonlinearOptimizer
virtual const Valuesoptimize ()
 
const ValuesoptimizeSafely ()
 
double error () const
 return error in current optimizer state More...
 
size_t iterations () const
 return number of iterations in current optimizer state More...
 
const Valuesvalues () const
 return values in current optimizer state More...
 
const NonlinearFactorGraphgraph () const
 return the graph with nonlinear factors More...
 
virtual ~NonlinearOptimizer ()
 

Private Attributes

ConjugateGradientParameters cgParams_
 Solver specific parameters. More...
 
Values initial_
 

Additional Inherited Members

- Public Types inherited from gtsam::LevenbergMarquardtOptimizer
typedef std::shared_ptr< LevenbergMarquardtOptimizershared_ptr
 
- Public Types inherited from gtsam::NonlinearOptimizer
using shared_ptr = std::shared_ptr< const NonlinearOptimizer >
 
- Protected Member Functions inherited from gtsam::LevenbergMarquardtOptimizer
const NonlinearOptimizerParams_params () const override
 
void initTime ()
 
- Protected Member Functions inherited from gtsam::NonlinearOptimizer
void defaultOptimize ()
 
 NonlinearOptimizer (const NonlinearFactorGraph &graph, std::unique_ptr< internal::NonlinearOptimizerState > state)
 
- Protected Attributes inherited from gtsam::LevenbergMarquardtOptimizer
const LevenbergMarquardtParams params_
 LM parameters. More...
 
std::chrono::time_point< std::chrono::high_resolution_clock > startTime_
 time when optimization started More...
 
- Protected Attributes inherited from gtsam::NonlinearOptimizer
NonlinearFactorGraph graph_
 The graph with nonlinear factors. More...
 
std::unique_ptr< internal::NonlinearOptimizerStatestate_
 PIMPL'd state. More...
 

Detailed Description

Definition at line 507 of file testNonlinearOptimizer.cpp.

Constructor & Destructor Documentation

◆ IterativeLM()

IterativeLM::IterativeLM ( const NonlinearFactorGraph graph,
const Values initialValues,
const ConjugateGradientParameters p,
const LevenbergMarquardtParams params = LevenbergMarquardtParams::LegacyDefaults() 
)
inline

Constructor.

Definition at line 514 of file testNonlinearOptimizer.cpp.

Member Function Documentation

◆ solve()

VectorValues IterativeLM::solve ( const GaussianFactorGraph gfg,
const NonlinearOptimizerParams params 
) const
inlineoverridevirtual

Solve that uses conjugate gradient.

Reimplemented from gtsam::NonlinearOptimizer.

Definition at line 523 of file testNonlinearOptimizer.cpp.

Member Data Documentation

◆ cgParams_

ConjugateGradientParameters IterativeLM::cgParams_
private

Solver specific parameters.

Definition at line 509 of file testNonlinearOptimizer.cpp.

◆ initial_

Values IterativeLM::initial_
private

Definition at line 510 of file testNonlinearOptimizer.cpp.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:41:02