Inheritance diagram for IterativeLM:

Public Member Functions
	IterativeLM (const NonlinearFactorGraph &graph, const Values &initialValues, const ConjugateGradientParameters &p, const LevenbergMarquardtParams &params=LevenbergMarquardtParams::LegacyDefaults())
	Constructor. More...

VectorValues	solve (const GaussianFactorGraph &gfg, const NonlinearOptimizerParams &params) const override
	Solve that uses conjugate gradient. More...

Public Member Functions inherited from gtsam::LevenbergMarquardtOptimizer
	LevenbergMarquardtOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const LevenbergMarquardtParams &params=LevenbergMarquardtParams())

	LevenbergMarquardtOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Ordering &ordering, const LevenbergMarquardtParams &params=LevenbergMarquardtParams())

	~LevenbergMarquardtOptimizer () override

double	lambda () const
	Access the current damping value. More...

int	getInnerIterations () const
	Access the current number of inner iterations. More...

void	print (const std::string &str="") const
	print More...

GaussianFactorGraph::shared_ptr	iterate () override

const LevenbergMarquardtParams &	params () const

void	writeLogFile (double currentError)

virtual GaussianFactorGraph::shared_ptr	linearize () const

GaussianFactorGraph	buildDampedSystem (const GaussianFactorGraph &linear, const VectorValues &sqrtHessianDiagonal) const

bool	tryLambda (const GaussianFactorGraph &linear, const VectorValues &sqrtHessianDiagonal)

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 ()

Private Attributes
ConjugateGradientParameters	cgParams_
	Solver specific parameters. More...

Values	initial_

Additional Inherited Members
Public Types inherited from gtsam::LevenbergMarquardtOptimizer
typedef std::shared_ptr< LevenbergMarquardtOptimizer >	shared_ptr

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

Protected Member Functions inherited from gtsam::LevenbergMarquardtOptimizer
const NonlinearOptimizerParams &	_params () const override

void	initTime ()

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

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

Protected Attributes inherited from gtsam::LevenbergMarquardtOptimizer
const LevenbergMarquardtParams	params_
	LM parameters. More...

std::chrono::time_point< std::chrono::high_resolution_clock >	startTime_
	time when optimization started More...

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

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

Detailed Description

Definition at line 507 of file testNonlinearOptimizer.cpp.

Constructor & Destructor Documentation

◆ IterativeLM()

IterativeLM::IterativeLM	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const ConjugateGradientParameters &	p,
		const LevenbergMarquardtParams &	params = `LevenbergMarquardtParams::LegacyDefaults()`
	)