#include <LevenbergMarquardtOptimizer.h>

Inheritance diagram for gtsam::LevenbergMarquardtOptimizer:

Public Types
typedef std::shared_ptr< LevenbergMarquardtOptimizer >	shared_ptr

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

Public Member Functions
Constructors/Destructor
	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

Standard interface
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...

Advanced interface
GaussianFactorGraph::shared_ptr	iterate () override

const LevenbergMarquardtParams &	params () 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 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

void	initTime ()

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

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

Protected Attributes
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::NonlinearOptimizerState >	state_
	PIMPL'd state. More...

Detailed Description

This class performs Levenberg-Marquardt nonlinear optimization

Definition at line 35 of file LevenbergMarquardtOptimizer.h.

Member Typedef Documentation

◆ shared_ptr

typedef std::shared_ptr<LevenbergMarquardtOptimizer> gtsam::LevenbergMarquardtOptimizer::shared_ptr

Definition at line 46 of file LevenbergMarquardtOptimizer.h.

Constructor & Destructor Documentation

◆ LevenbergMarquardtOptimizer() [1/2]

gtsam::LevenbergMarquardtOptimizer::LevenbergMarquardtOptimizer	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const LevenbergMarquardtParams &	params = `LevenbergMarquardtParams()`
	)

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 47 of file LevenbergMarquardtOptimizer.cpp.

◆ LevenbergMarquardtOptimizer() [2/2]

gtsam::LevenbergMarquardtOptimizer::LevenbergMarquardtOptimizer	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const Ordering &	ordering,
		const LevenbergMarquardtParams &	params = `LevenbergMarquardtParams()`
	)

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 55 of file LevenbergMarquardtOptimizer.cpp.

◆ ~LevenbergMarquardtOptimizer()

gtsam::LevenbergMarquardtOptimizer::~LevenbergMarquardtOptimizer ( )

inlineoverride

Virtual destructor

Definition at line 74 of file LevenbergMarquardtOptimizer.h.

Member Function Documentation

◆ _params()

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

inlineoverrideprotectedvirtual

Access the parameters (base class version)

Implements gtsam::NonlinearOptimizer.

Definition at line 127 of file LevenbergMarquardtOptimizer.h.

◆ buildDampedSystem()

GaussianFactorGraph gtsam::LevenbergMarquardtOptimizer::buildDampedSystem	(	const GaussianFactorGraph &	linear,
		const VectorValues &	sqrtHessianDiagonal
	)		const