Generic interface for a non-linear solver operating on a graph. More...

#include <optimization_algorithm.h>

Inheritance diagram for g2o::OptimizationAlgorithm:

[legend]

Public Types
enum	SolverResult { Terminate =2, OK =1, Fail =-1 }

Public Member Functions
virtual bool	computeMarginals (SparseBlockMatrix< MatrixXd > &spinv, const std::vector< std::pair< int, int > > &blockIndices)=0

virtual bool	init (bool online=false)=0

	OptimizationAlgorithm ()

const SparseOptimizer *	optimizer () const
	return the optimizer operating on More...

SparseOptimizer *	optimizer ()

void	printProperties (std::ostream &os) const

virtual void	printVerbose (std::ostream &os) const

const PropertyMap &	properties () const
	return the properties of the solver More...

void	setOptimizer (SparseOptimizer *optimizer)

virtual SolverResult	solve (int iteration, bool online=false)=0

bool	updatePropertiesFromString (const std::string &propString)

virtual bool	updateStructure (const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)=0

virtual	~OptimizationAlgorithm ()

Protected Attributes
SparseOptimizer *	_optimizer
	the optimizer the solver is working on More...

PropertyMap	_properties
	the properties of your solver, use this to store the parameters of your solver More...

Private Member Functions
OptimizationAlgorithm &	operator= (const OptimizationAlgorithm &)

	OptimizationAlgorithm (const OptimizationAlgorithm &)

Detailed Description

Generic interface for a non-linear solver operating on a graph.

Definition at line 46 of file optimization_algorithm.h.

Member Enumeration Documentation

enum g2o::OptimizationAlgorithm::SolverResult

Enumerator
Terminate
OK
Fail

Definition at line 49 of file optimization_algorithm.h.

Constructor & Destructor Documentation

g2o::OptimizationAlgorithm::OptimizationAlgorithm ( )

Definition at line 33 of file optimization_algorithm.cpp.

g2o::OptimizationAlgorithm::~OptimizationAlgorithm ( )

virtual

Definition at line 38 of file optimization_algorithm.cpp.

g2o::OptimizationAlgorithm::OptimizationAlgorithm ( const OptimizationAlgorithm & )

inlineprivate

Definition at line 111 of file optimization_algorithm.h.

Member Function Documentation

virtual bool g2o::OptimizationAlgorithm::computeMarginals	(	SparseBlockMatrix< MatrixXd > &	spinv,
		const std::vector< std::pair< int, int > > &	blockIndices
	)

pure virtual

computes the block diagonal elements of the pattern specified in the input and stores them in given SparseBlockMatrix. If your solver does not support computing the marginals, return false.

Implemented in g2o::OptimizationAlgorithmWithHessian.

virtual bool g2o::OptimizationAlgorithm::init ( bool online = false )

pure virtual

initialize the solver, called once before the first call to solve()

Implemented in g2o::OptimizationAlgorithmWithHessian.

OptimizationAlgorithm& g2o::OptimizationAlgorithm::operator= ( const OptimizationAlgorithm & )

inlineprivate

Definition at line 112 of file optimization_algorithm.h.

const SparseOptimizer* g2o::OptimizationAlgorithm::optimizer ( ) const

inline

return the optimizer operating on

Definition at line 84 of file optimization_algorithm.h.

SparseOptimizer* g2o::OptimizationAlgorithm::optimizer ( )

inline

Definition at line 85 of file optimization_algorithm.h.

void g2o::OptimizationAlgorithm::printProperties ( std::ostream & os ) const

print the properties to a stream in a human readable fashion

Definition at line 42 of file optimization_algorithm.cpp.

virtual void g2o::OptimizationAlgorithm::printVerbose ( std::ostream & os ) const

inlinevirtual

called by the optimizer if verbose. re-implement, if you want to print something

Reimplemented in g2o::OptimizationAlgorithmDogleg, g2o::OptimizationAlgorithmGaussNewton, and g2o::OptimizationAlgorithmLevenberg.

Definition at line 80 of file optimization_algorithm.h.

const PropertyMap& g2o::OptimizationAlgorithm::properties ( ) const

inline

return the properties of the solver

Definition at line 93 of file optimization_algorithm.h.

void g2o::OptimizationAlgorithm::setOptimizer ( SparseOptimizer * optimizer )

specify on which optimizer the solver should work on

Definition at line 57 of file optimization_algorithm.cpp.

virtual SolverResult g2o::OptimizationAlgorithm::solve	(	int	iteration,
		bool	online = `false`
	)

pure virtual

Solve one iteration. The SparseOptimizer running on-top will call this for the given number of iterations.

Parameters

iteration indicates the current iteration

Implemented in g2o::OptimizationAlgorithmDogleg, g2o::OptimizationAlgorithmGaussNewton, and g2o::OptimizationAlgorithmLevenberg.

bool g2o::OptimizationAlgorithm::updatePropertiesFromString ( const std::string & propString )

update the properties from a string, see PropertyMap::updateMapFromString()

Definition at line 52 of file optimization_algorithm.cpp.

virtual bool g2o::OptimizationAlgorithm::updateStructure	(	const std::vector< HyperGraph::Vertex * > &	vset,
		const HyperGraph::EdgeSet &	edges
	)

pure virtual

update the structures for online processing

Implemented in g2o::OptimizationAlgorithmWithHessian.

Member Data Documentation

SparseOptimizer* g2o::OptimizationAlgorithm::_optimizer

protected

the optimizer the solver is working on

Definition at line 106 of file optimization_algorithm.h.

PropertyMap g2o::OptimizationAlgorithm::_properties

protected

the properties of your solver, use this to store the parameters of your solver

Definition at line 107 of file optimization_algorithm.h.

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

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation