GaussNewtonOptimizer.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
19 #pragma once
20 
22 
23 namespace gtsam {
24 
25 class GaussNewtonOptimizer;
26 
30 class GTSAM_EXPORT GaussNewtonParams : public NonlinearOptimizerParams {
31 public:
33 };
34 
38 class GTSAM_EXPORT GaussNewtonOptimizer : public NonlinearOptimizer {
39 
40 protected:
42 
43 public:
46 
55  GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
57 
65  GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
66  const Ordering& ordering);
68 
71 
73  ~GaussNewtonOptimizer() override {}
74 
79  GaussianFactorGraph::shared_ptr iterate() override;
80 
82  const GaussNewtonParams& params() const { return params_; }
83 
85 
86 protected:
88  const NonlinearOptimizerParams& _params() const override { return params_; }
89 
91  GaussNewtonParams ensureHasOrdering(GaussNewtonParams params, const NonlinearFactorGraph& graph) const;
92 
93 };
94 
95 }
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


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autogenerated on Fri Nov 1 2024 03:32:34