Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg. More...

#include <optimization_algorithm_with_hessian.h>

Inheritance diagram for g2o::OptimizationAlgorithmWithHessian:

[legend]

Public Member Functions
virtual bool	buildLinearStructure ()

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

virtual bool	init (bool online=false)

	OptimizationAlgorithmWithHessian (Solver *solver)

virtual void	setWriteDebug (bool writeDebug)

Solver *	solver ()
	return the underlying solver used to solve the linear system More...

virtual void	updateLinearSystem ()

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

virtual bool	writeDebug () const

virtual	~OptimizationAlgorithmWithHessian ()

Public Member Functions inherited from g2o::OptimizationAlgorithm
	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	~OptimizationAlgorithm ()

Protected Attributes
Solver *	_solver

Property< bool > *	_writeDebug

Protected Attributes inherited from g2o::OptimizationAlgorithm
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...

Additional Inherited Members
Public Types inherited from g2o::OptimizationAlgorithm
enum	SolverResult { Terminate =2, OK =1, Fail =-1 }

Detailed Description

Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg.

Definition at line 39 of file optimization_algorithm_with_hessian.h.

Constructor & Destructor Documentation

g2o::OptimizationAlgorithmWithHessian::OptimizationAlgorithmWithHessian ( Solver * solver )

explicit

Definition at line 38 of file optimization_algorithm_with_hessian.cpp.

g2o::OptimizationAlgorithmWithHessian::~OptimizationAlgorithmWithHessian ( )

virtual

Definition at line 45 of file optimization_algorithm_with_hessian.cpp.

Member Function Documentation

bool g2o::OptimizationAlgorithmWithHessian::buildLinearStructure ( )

virtual

Definition at line 80 of file optimization_algorithm_with_hessian.cpp.

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

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.

Implements g2o::OptimizationAlgorithm.

Definition at line 75 of file optimization_algorithm_with_hessian.cpp.

bool g2o::OptimizationAlgorithmWithHessian::init ( bool online = false )

virtual

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

Implements g2o::OptimizationAlgorithm.

Definition at line 50 of file optimization_algorithm_with_hessian.cpp.

void g2o::OptimizationAlgorithmWithHessian::setWriteDebug ( bool writeDebug )

virtual

write debug output of the Hessian if system is not positive definite

Definition at line 96 of file optimization_algorithm_with_hessian.cpp.

Solver* g2o::OptimizationAlgorithmWithHessian::solver ( )