#include <NonlinearConjugateGradientOptimizer.h>
Classes | |
| class | System |
Public Types | |
| typedef NonlinearOptimizer | Base |
| typedef NonlinearOptimizerParams | Parameters |
| typedef std::shared_ptr< NonlinearConjugateGradientOptimizer > | shared_ptr |
 Public Types inherited from gtsam::NonlinearOptimizer | |
| using | shared_ptr = std::shared_ptr< const NonlinearOptimizer > |
Public Member Functions | |
| GaussianFactorGraph::shared_ptr | iterate () override |
| NonlinearConjugateGradientOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Parameters ¶ms=Parameters()) | |
| Constructor. More... | |
| const Values & | optimize () override |
| ~NonlinearConjugateGradientOptimizer () override | |
| Destructor. More... | |
| Public Member Functions inherited from gtsam::NonlinearOptimizer | |
| 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 ¶ms) const |
Protected Member Functions | |
| const NonlinearOptimizerParams & | _params () const override |
| Protected Member Functions inherited from gtsam::NonlinearOptimizer | |
| void | defaultOptimize () |
| NonlinearOptimizer (const NonlinearFactorGraph &graph, std::unique_ptr< internal::NonlinearOptimizerState > state) | |
Protected Attributes | |
| Parameters | 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
An implementation of the nonlinear CG method using the template below
Definition at line 27 of file NonlinearConjugateGradientOptimizer.h.
Member Typedef Documentation
◆ Base
Definition at line 51 of file NonlinearConjugateGradientOptimizer.h.
◆ Parameters
Definition at line 52 of file NonlinearConjugateGradientOptimizer.h.
◆ shared_ptr
| typedef std::shared_ptr<NonlinearConjugateGradientOptimizer> gtsam::NonlinearConjugateGradientOptimizer::shared_ptr |
Definition at line 53 of file NonlinearConjugateGradientOptimizer.h.
Constructor & Destructor Documentation
◆ NonlinearConjugateGradientOptimizer()
| gtsam::NonlinearConjugateGradientOptimizer::NonlinearConjugateGradientOptimizer | ( | const NonlinearFactorGraph & | graph, |
| const Values & | initialValues, | ||
| const Parameters & | params = Parameters() |
||
| ) |
Constructor.
Definition at line 44 of file NonlinearConjugateGradientOptimizer.cpp.
◆ ~NonlinearConjugateGradientOptimizer()
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inlineoverride |
Destructor.
Definition at line 69 of file NonlinearConjugateGradientOptimizer.h.
Member Function Documentation
◆ _params()
|
inlineoverrideprotectedvirtual |
Implements gtsam::NonlinearOptimizer.
Definition at line 58 of file NonlinearConjugateGradientOptimizer.h.
◆ iterate()
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overridevirtual |
Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor graph.
Implements gtsam::NonlinearOptimizer.
Definition at line 65 of file NonlinearConjugateGradientOptimizer.cpp.
◆ optimize()
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overridevirtual |
Optimize for the maximum-likelihood estimate, returning a the optimized variable assignments.
Reimplemented from gtsam::NonlinearOptimizer.
Definition at line 74 of file NonlinearConjugateGradientOptimizer.cpp.
Member Data Documentation
◆ params_
|
protected |
Definition at line 56 of file NonlinearConjugateGradientOptimizer.h.
The documentation for this class was generated from the following files: