Go to the documentation of this file.
47 default:
s =
"UNDEFINED";
break;
57 DoglegState(
const Values& _values,
double _error,
double _delta,
unsigned int _iterations = 0)
110 throw std::runtime_error(
"Dogleg is not currently compatible with the linear conjugate gradient solver");
113 throw std::runtime_error(
"Optimization parameter is invalid: DoglegParams::elimination");
bool isSequential() const
Linear Factor Graph where all factors are Gaussians.
std::shared_ptr< This > shared_ptr
shared_ptr to this class
const NonlinearFactorGraph & graph() const
return the graph with nonlinear factors
VectorValues optimizeGradientSearch() const
static IterationResult Iterate(double delta, TrustRegionAdaptationMode mode, const VectorValues &dx_u, const VectorValues &dx_n, const M &Rd, const F &f, const VALUES &x0, const double f_error, const bool verbose=false)
Private class for NonlinearOptimizer state.
static Ordering Create(OrderingType orderingType, const FACTOR_GRAPH &graph)
VectorValues optimizeGradientSearch() const
Verbosity verbosity
The printing verbosity during optimization (default SILENT)
std::shared_ptr< GaussianFactorGraph > linearize(const Values &linearizationPoint) const
Linearize a nonlinear factor graph.
DoglegState(const Values &_values, double _error, double _delta, unsigned int _iterations=0)
Chordal Bayes Net, the result of eliminating a factor graph.
DoglegOptimizer(const NonlinearFactorGraph &graph, const Values &initialValues, const DoglegParams ¶ms=DoglegParams())
static const SmartProjectionParams params
Ordering::OrderingType orderingType
The method of ordering use during variable elimination (default COLAMD)
VerbosityDL verbosityDL
The verbosity level for Dogleg (default: SILENT), see also NonlinearOptimizerParams::verbosity.
GaussianFactorGraph::shared_ptr iterate() override
VerbosityDL verbosityDLTranslator(const std::string &verbosityDL) const
DoglegParams ensureHasOrdering(DoglegParams params, const NonlinearFactorGraph &graph) const
internal::DoglegState State
VectorValues optimize() const
EIGEN_DONT_INLINE void transform(const Transformation &t, Data &data)
VectorValues optimize() const
NonlinearFactorGraph graph_
The graph with nonlinear factors.
static enum @1096 ordering
bool isMultifrontal() const
Gaussian Bayes Tree, the result of eliminating a GaussianJunctionTree.
Nonlinear factor graph optimizer using Powell's Dogleg algorithm (detail implementation)
std::optional< Ordering > ordering
The optional variable elimination ordering, or empty to use COLAMD (default: empty)
NonlinearFactorGraph graph
std::unique_ptr< internal::NonlinearOptimizerState > state_
PIMPL'd state.
GaussianFactorGraph::Eliminate getEliminationFunction() const
const DoglegParams & params() const
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:26