Protected Member Functions | Protected Attributes | List of all members
gtsam::GaussNewtonOptimizer Class Reference

#include <GaussNewtonOptimizer.h>

Inheritance diagram for gtsam::GaussNewtonOptimizer:
Inheritance graph
[legend]

Public Member Functions

Standard interface
 GaussNewtonOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const GaussNewtonParams &params=GaussNewtonParams())
 
 GaussNewtonOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Ordering &ordering)
 
Advanced interface
 ~GaussNewtonOptimizer () override
 
GaussianFactorGraph::shared_ptr iterate () override
 
const GaussNewtonParamsparams () const
 
- 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 ()
 
virtual VectorValues solve (const GaussianFactorGraph &gfg, const NonlinearOptimizerParams &params) const
 

Protected Member Functions

const NonlinearOptimizerParams_params () const override
 
GaussNewtonParams ensureHasOrdering (GaussNewtonParams 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

GaussNewtonParams params_
 
- Protected Attributes inherited from gtsam::NonlinearOptimizer
NonlinearFactorGraph graph_
 The graph with nonlinear factors. More...
 
std::unique_ptr< internal::NonlinearOptimizerStatestate_
 PIMPL'd state. More...
 

Additional Inherited Members

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

Detailed Description

This class performs Gauss-Newton nonlinear optimization

Definition at line 38 of file GaussNewtonOptimizer.h.

Constructor & Destructor Documentation

◆ GaussNewtonOptimizer() [1/2]

gtsam::GaussNewtonOptimizer::GaussNewtonOptimizer ( const NonlinearFactorGraph graph,
const Values initialValues,
const GaussNewtonParams params = GaussNewtonParams() 
)

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
graphThe nonlinear factor graph to optimize
initialValuesThe initial variable assignments
paramsThe optimization parameters

Definition at line 29 of file GaussNewtonOptimizer.cpp.

◆ GaussNewtonOptimizer() [2/2]

gtsam::GaussNewtonOptimizer::GaussNewtonOptimizer ( 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
graphThe nonlinear factor graph to optimize
initialValuesThe initial variable assignments

Definition at line 36 of file GaussNewtonOptimizer.cpp.

◆ ~GaussNewtonOptimizer()

gtsam::GaussNewtonOptimizer::~GaussNewtonOptimizer ( )
inlineoverride

Virtual destructor

Definition at line 73 of file GaussNewtonOptimizer.h.

Member Function Documentation

◆ _params()

const NonlinearOptimizerParams& gtsam::GaussNewtonOptimizer::_params ( ) const
inlineoverrideprotectedvirtual

Access the parameters (base class version)

Implements gtsam::NonlinearOptimizer.

Definition at line 88 of file GaussNewtonOptimizer.h.

◆ ensureHasOrdering()

GaussNewtonParams gtsam::GaussNewtonOptimizer::ensureHasOrdering ( GaussNewtonParams  params,
const NonlinearFactorGraph graph 
) const
protected

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

Definition at line 69 of file GaussNewtonOptimizer.cpp.

◆ iterate()

GaussianFactorGraph::shared_ptr gtsam::GaussNewtonOptimizer::iterate ( void  )
overridevirtual

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

Implements gtsam::NonlinearOptimizer.

Definition at line 44 of file GaussNewtonOptimizer.cpp.

◆ params()

const GaussNewtonParams& gtsam::GaussNewtonOptimizer::params ( ) const
inline

Read-only access the parameters

Definition at line 82 of file GaussNewtonOptimizer.h.

Member Data Documentation

◆ params_

GaussNewtonParams gtsam::GaussNewtonOptimizer::params_
protected

Definition at line 41 of file GaussNewtonOptimizer.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:19