#include <DoglegOptimizer.h>

Inheritance diagram for gtsam::DoglegOptimizer:

Public Types
typedef std::shared_ptr< DoglegOptimizer >	shared_ptr

Public Types inherited from gtsam::NonlinearOptimizer
using	shared_ptr = std::shared_ptr< const NonlinearOptimizer >

Public Member Functions
Standard interface
	DoglegOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const DoglegParams &params=DoglegParams())

	DoglegOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Ordering &ordering)

Advanced interface
	~DoglegOptimizer () override

GaussianFactorGraph::shared_ptr	iterate () override

const DoglegParams &	params () const

double	getDelta () const

Public Member Functions inherited from gtsam::NonlinearOptimizer
virtual const Values &	optimize ()

const Values &	optimizeSafely ()

double	error () const
	return error in current optimizer state More...

size_t	iterations () const
	return number of iterations in current optimizer state More...

const Values &	values () const
	return values in current optimizer state More...

const NonlinearFactorGraph &	graph () const
	return the graph with nonlinear factors More...

virtual	~NonlinearOptimizer ()

virtual VectorValues	solve (const GaussianFactorGraph &gfg, const NonlinearOptimizerParams &params) const

Protected Member Functions
const NonlinearOptimizerParams &	_params () const override

DoglegParams	ensureHasOrdering (DoglegParams params, const NonlinearFactorGraph &graph) const

Protected Member Functions inherited from gtsam::NonlinearOptimizer
void	defaultOptimize ()

	NonlinearOptimizer (const NonlinearFactorGraph &graph, std::unique_ptr< internal::NonlinearOptimizerState > state)

Protected Attributes
DoglegParams	params_

Protected Attributes inherited from gtsam::NonlinearOptimizer
NonlinearFactorGraph	graph_
	The graph with nonlinear factors. More...

std::unique_ptr< internal::NonlinearOptimizerState >	state_
	PIMPL'd state. More...

Detailed Description

This class performs Dogleg nonlinear optimization

Definition at line 68 of file DoglegOptimizer.h.

Member Typedef Documentation

◆ shared_ptr

typedef std::shared_ptr<DoglegOptimizer> gtsam::DoglegOptimizer::shared_ptr

Definition at line 74 of file DoglegOptimizer.h.

Constructor & Destructor Documentation

◆ DoglegOptimizer() [1/2]

gtsam::DoglegOptimizer::DoglegOptimizer	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const DoglegParams &	params = `DoglegParams()`
	)

Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. For convenience this version takes plain objects instead of shared pointers, but internally copies the objects.

Parameters

graph	The nonlinear factor graph to optimize
initialValues	The initial variable assignments
params	The optimization parameters

Definition at line 65 of file DoglegOptimizer.cpp.

◆ DoglegOptimizer() [2/2]

gtsam::DoglegOptimizer::DoglegOptimizer	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const Ordering &	ordering
	)

Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. For convenience this version takes plain objects instead of shared pointers, but internally copies the objects.

Parameters

graph	The nonlinear factor graph to optimize
initialValues	The initial variable assignments

Definition at line 72 of file DoglegOptimizer.cpp.

◆ ~DoglegOptimizer()

gtsam::DoglegOptimizer::~DoglegOptimizer ( )

inlineoverride

Virtual destructor

Definition at line 106 of file DoglegOptimizer.h.

Member Function Documentation

◆ _params()

const NonlinearOptimizerParams& gtsam::DoglegOptimizer::_params ( ) const

inlineoverrideprotectedvirtual

Access the parameters (base class version)

Implements gtsam::NonlinearOptimizer.

Definition at line 124 of file DoglegOptimizer.h.

◆ ensureHasOrdering()

DoglegParams gtsam::DoglegOptimizer::ensureHasOrdering	(	DoglegParams	params,
		const NonlinearFactorGraph &	graph
	)		const

protected

Internal function for computing a COLAMD ordering if no ordering is specified

Definition at line 126 of file DoglegOptimizer.cpp.

◆ getDelta()

double gtsam::DoglegOptimizer::getDelta ( ) const

Access the current trust region radius delta

Definition at line 79 of file DoglegOptimizer.cpp.

◆ iterate()

GaussianFactorGraph::shared_ptr gtsam::DoglegOptimizer::iterate ( void )

overridevirtual

Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor graph.

Implements gtsam::NonlinearOptimizer.

Definition at line 84 of file DoglegOptimizer.cpp.

◆ params()

const DoglegParams& gtsam::DoglegOptimizer::params ( ) const

inline

Read-only access the parameters

Definition at line 115 of file DoglegOptimizer.h.

Member Data Documentation

◆ params_

DoglegParams gtsam::DoglegOptimizer::params_