#include <GaussNewtonOptimizer.h>

Inheritance diagram for gtsam::GaussNewtonOptimizer:

Public Member Functions
Standard interface
	GaussNewtonOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const GaussNewtonParams &params=GaussNewtonParams())

	GaussNewtonOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Ordering &ordering)

Advanced interface
	~GaussNewtonOptimizer () override

GaussianFactorGraph::shared_ptr	iterate () override

const GaussNewtonParams &	params () const

Public Member Functions inherited from gtsam::NonlinearOptimizer
virtual const Values &	optimize ()

const Values &	optimizeSafely ()

double	error () const
	return error in current optimizer state More...

size_t	iterations () const
	return number of iterations in current optimizer state More...

const Values &	values () const
	return values in current optimizer state More...

const NonlinearFactorGraph &	graph () const
	return the graph with nonlinear factors More...

virtual	~NonlinearOptimizer ()

virtual VectorValues	solve (const GaussianFactorGraph &gfg, const NonlinearOptimizerParams &params) const

Protected Member Functions
const NonlinearOptimizerParams &	_params () const override

GaussNewtonParams	ensureHasOrdering (GaussNewtonParams params, const NonlinearFactorGraph &graph) const

Protected Member Functions inherited from gtsam::NonlinearOptimizer
void	defaultOptimize ()

	NonlinearOptimizer (const NonlinearFactorGraph &graph, std::unique_ptr< internal::NonlinearOptimizerState > state)

Protected Attributes
GaussNewtonParams	params_

Protected Attributes inherited from gtsam::NonlinearOptimizer
NonlinearFactorGraph	graph_
	The graph with nonlinear factors. More...

std::unique_ptr< internal::NonlinearOptimizerState >	state_
	PIMPL'd state. More...

Additional Inherited Members
Public Types inherited from gtsam::NonlinearOptimizer
using	shared_ptr = std::shared_ptr< const NonlinearOptimizer >

Detailed Description

This class performs Gauss-Newton nonlinear optimization

Definition at line 38 of file GaussNewtonOptimizer.h.

Constructor & Destructor Documentation

◆ GaussNewtonOptimizer() [1/2]

gtsam::GaussNewtonOptimizer::GaussNewtonOptimizer	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const GaussNewtonParams &	params = `GaussNewtonParams()`
	)

Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. For convenience this version takes plain objects instead of shared pointers, but internally copies the objects.

Parameters

graph	The nonlinear factor graph to optimize
initialValues	The initial variable assignments
params	The optimization parameters

Definition at line 29 of file GaussNewtonOptimizer.cpp.

◆ GaussNewtonOptimizer() [2/2]

gtsam::GaussNewtonOptimizer::GaussNewtonOptimizer	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const Ordering &	ordering
	)

Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. For convenience this version takes plain objects instead of shared pointers, but internally copies the objects.

Parameters

graph	The nonlinear factor graph to optimize
initialValues	The initial variable assignments

Definition at line 36 of file GaussNewtonOptimizer.cpp.

◆ ~GaussNewtonOptimizer()

gtsam::GaussNewtonOptimizer::~GaussNewtonOptimizer ( )

inlineoverride

Virtual destructor

Definition at line 73 of file GaussNewtonOptimizer.h.

Member Function Documentation

◆ _params()

const NonlinearOptimizerParams& gtsam::GaussNewtonOptimizer::_params ( ) const

inlineoverrideprotectedvirtual

Access the parameters (base class version)

Implements gtsam::NonlinearOptimizer.

Definition at line 88 of file GaussNewtonOptimizer.h.

◆ ensureHasOrdering()

GaussNewtonParams gtsam::GaussNewtonOptimizer::ensureHasOrdering	(	GaussNewtonParams	params,
		const NonlinearFactorGraph &	graph
	)		const

protected

Internal function for computing a COLAMD ordering if no ordering is specified

Definition at line 69 of file GaussNewtonOptimizer.cpp.

◆ iterate()

GaussianFactorGraph::shared_ptr gtsam::GaussNewtonOptimizer::iterate ( )

overridevirtual

Perform a single iteration, returning GaussianFactorGraph corresponding to the linearized factor graph.

Implements gtsam::NonlinearOptimizer.

Definition at line 44 of file GaussNewtonOptimizer.cpp.

◆ params()

const GaussNewtonParams& gtsam::GaussNewtonOptimizer::params ( ) const

inline

Read-only access the parameters

Definition at line 82 of file GaussNewtonOptimizer.h.

Member Data Documentation

◆ params_

GaussNewtonParams gtsam::GaussNewtonOptimizer::params_

protected

Definition at line 41 of file GaussNewtonOptimizer.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members