NonlinearOptimizer.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 
23 
24 namespace gtsam {
25 
26 namespace internal { struct NonlinearOptimizerState; }
27 
75 class GTSAM_EXPORT NonlinearOptimizer {
76 
77 protected:
79 
80  std::unique_ptr<internal::NonlinearOptimizerState> state_;
81 
82 public:
84  using shared_ptr = std::shared_ptr<const NonlinearOptimizer>;
85 
88 
98  virtual const Values& optimize() { defaultOptimize(); return values(); }
99 
106  const Values& optimizeSafely();
107 
109  double error() const;
110 
112  size_t iterations() const;
113 
115  const Values &values() const;
116 
118  const NonlinearFactorGraph &graph() const { return graph_; }
119 
121 
124 
126  virtual ~NonlinearOptimizer();
127 
129  virtual VectorValues solve(const GaussianFactorGraph &gfg,
130  const NonlinearOptimizerParams& params) const;
131 
136  virtual GaussianFactorGraph::shared_ptr iterate() = 0;
137 
139 
140 protected:
144  void defaultOptimize();
145 
146  virtual const NonlinearOptimizerParams& _params() const = 0;
147 
150  std::unique_ptr<internal::NonlinearOptimizerState> state);
151 };
152 
157 GTSAM_EXPORT bool checkConvergence(double relativeErrorTreshold,
158  double absoluteErrorTreshold, double errorThreshold,
159  double currentError, double newError, NonlinearOptimizerParams::Verbosity verbosity = NonlinearOptimizerParams::SILENT);
160 
161 GTSAM_EXPORT bool checkConvergence(const NonlinearOptimizerParams& params, double currentError,
162  double newError);
163 
164 } // gtsam
gtsam::NonlinearOptimizer::optimize
virtual const Values & optimize()
Definition: NonlinearOptimizer.h:98
gtsam::GaussianFactorGraph::shared_ptr
std::shared_ptr< This > shared_ptr
shared_ptr to this class
Definition: GaussianFactorGraph.h:82
gtsam::NonlinearOptimizer::graph
const NonlinearFactorGraph & graph() const
return the graph with nonlinear factors
Definition: NonlinearOptimizer.h:118
gtsam::NonlinearOptimizerParams::SILENT
@ SILENT
Definition: NonlinearOptimizerParams.h:39
gtsam::NonlinearOptimizerParams::Verbosity
Verbosity
Definition: NonlinearOptimizerParams.h:38
different_sigmas::values
HybridValues values
Definition: testHybridBayesNet.cpp:245
vanilla::params
static const SmartProjectionParams params
Definition: smartFactorScenarios.h:69
gtsam::checkConvergence
bool checkConvergence(double relativeErrorTreshold, double absoluteErrorTreshold, double errorThreshold, double currentError, double newError, NonlinearOptimizerParams::Verbosity verbosity)
Definition: NonlinearOptimizer.cpp:182
gtsam::GaussianFactorGraph
Definition: GaussianFactorGraph.h:73
gtsam::NonlinearOptimizerParams
Definition: NonlinearOptimizerParams.h:35
gtsam::VectorValues
Definition: VectorValues.h:74
gtsam::NonlinearFactorGraph
Definition: NonlinearFactorGraph.h:55
gtsam::NonlinearOptimizer::graph_
NonlinearFactorGraph graph_
The graph with nonlinear factors.
Definition: NonlinearOptimizer.h:78
gtsam::NonlinearOptimizer::shared_ptr
std::shared_ptr< const NonlinearOptimizer > shared_ptr
Definition: NonlinearOptimizer.h:84
gtsam
traits
Definition: SFMdata.h:40
gtsam::NonlinearOptimizer
Definition: NonlinearOptimizer.h:75
error
static double error
Definition: testRot3.cpp:37
NonlinearFactorGraph.h
Factor Graph consisting of non-linear factors.
gtsam::Values
Definition: Values.h:65
internal
Definition: BandTriangularSolver.h:13
graph
NonlinearFactorGraph graph
Definition: doc/Code/OdometryExample.cpp:2
NonlinearOptimizerParams.h
Parameters for nonlinear optimization.
gtsam::NonlinearOptimizer::state_
std::unique_ptr< internal::NonlinearOptimizerState > state_
PIMPL'd state.
Definition: NonlinearOptimizer.h:80
make_changelog.state
state
Definition: make_changelog.py:29


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autogenerated on Fri Nov 1 2024 03:33:51