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26 typedef internal::NonlinearOptimizerState
State;
30 const Values& initialValues,
45 gttic(GaussNewtonOptimizer_Iterate);
48 gttic(GaussNewtonOptimizer_Linearize);
50 gttoc(GaussNewtonOptimizer_Linearize);
53 gttic(GaussNewtonOptimizer_Solve);
55 gttoc(GaussNewtonOptimizer_Solve);
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
virtual VectorValues solve(const GaussianFactorGraph &gfg, const NonlinearOptimizerParams ¶ms) const
Private class for NonlinearOptimizer state.
static Ordering Create(OrderingType orderingType, const FACTOR_GRAPH &graph)
Verbosity verbosity
The printing verbosity during optimization (default SILENT)
std::shared_ptr< GaussianFactorGraph > linearize(const Values &linearizationPoint) const
Linearize a nonlinear factor graph.
GaussNewtonParams ensureHasOrdering(GaussNewtonParams params, const NonlinearFactorGraph &graph) const
static const SmartProjectionParams params
Ordering::OrderingType orderingType
The method of ordering use during variable elimination (default COLAMD)
double error(const Values &values) const
const GaussNewtonParams & params() const
internal::DoglegState State
NonlinearFactorGraph graph_
The graph with nonlinear factors.
static enum @1096 ordering
GaussianFactorGraph::shared_ptr iterate() override
GaussNewtonParams params_
GaussNewtonOptimizer(const NonlinearFactorGraph &graph, const Values &initialValues, const GaussNewtonParams ¶ms=GaussNewtonParams())
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.
gtsam
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autogenerated on Fri Nov 1 2024 03:32:34