gtsam
nonlinear
GaussNewtonOptimizer.h
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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#pragma once
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#include <
gtsam/nonlinear/NonlinearOptimizer.h
>
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namespace
gtsam
{
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class
GaussNewtonOptimizer;
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class
GTSAM_EXPORT
GaussNewtonParams
:
public
NonlinearOptimizerParams
{
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public
:
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using
OptimizerType
=
GaussNewtonOptimizer
;
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};
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class
GTSAM_EXPORT
GaussNewtonOptimizer
:
public
NonlinearOptimizer
{
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protected
:
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GaussNewtonParams
params_
;
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public
:
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GaussNewtonOptimizer
(
const
NonlinearFactorGraph
&
graph
,
const
Values
& initialValues,
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const
GaussNewtonParams
&
params
=
GaussNewtonParams
());
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GaussNewtonOptimizer
(
const
NonlinearFactorGraph
&
graph
,
const
Values
& initialValues,
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const
Ordering
&
ordering
);
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~GaussNewtonOptimizer
()
override
{}
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GaussianFactorGraph::shared_ptr
iterate()
override
;
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const
GaussNewtonParams
&
params
()
const
{
return
params_; }
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protected
:
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const
NonlinearOptimizerParams
&
_params
()
const override
{
return
params_; }
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GaussNewtonParams
ensureHasOrdering(
GaussNewtonParams
params
,
const
NonlinearFactorGraph
&
graph
)
const
;
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};
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}
gtsam::GaussianFactorGraph::shared_ptr
std::shared_ptr< This > shared_ptr
shared_ptr to this class
Definition:
GaussianFactorGraph.h:82
gtsam::GaussNewtonOptimizer
Definition:
GaussNewtonOptimizer.h:38
NonlinearOptimizer.h
Base class and parameters for nonlinear optimization algorithms.
vanilla::params
static const SmartProjectionParams params
Definition:
smartFactorScenarios.h:69
gtsam::NonlinearOptimizerParams
Definition:
NonlinearOptimizerParams.h:35
gtsam::GaussNewtonOptimizer::params
const GaussNewtonParams & params() const
Definition:
GaussNewtonOptimizer.h:82
gtsam::GaussNewtonParams
Definition:
GaussNewtonOptimizer.h:30
gtsam::NonlinearFactorGraph
Definition:
NonlinearFactorGraph.h:55
ordering
static enum @1096 ordering
gtsam::GaussNewtonOptimizer::_params
const NonlinearOptimizerParams & _params() const override
Definition:
GaussNewtonOptimizer.h:88
gtsam::GaussNewtonOptimizer::~GaussNewtonOptimizer
~GaussNewtonOptimizer() override
Definition:
GaussNewtonOptimizer.h:73
gtsam
traits
Definition:
SFMdata.h:40
gtsam::NonlinearOptimizer
Definition:
NonlinearOptimizer.h:75
gtsam::Values
Definition:
Values.h:65
gtsam::GaussNewtonOptimizer::params_
GaussNewtonParams params_
Definition:
GaussNewtonOptimizer.h:41
graph
NonlinearFactorGraph graph
Definition:
doc/Code/OdometryExample.cpp:2
gtsam::Ordering
Definition:
inference/Ordering.h:33
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:32:34