Inheritance diagram for gtsam::NonlinearConjugateGradientOptimizer:

Public Types
typedef NonlinearOptimizer	Base

typedef NonlinearOptimizerParams	Parameters

typedef std::shared_ptr< NonlinearConjugateGradientOptimizer >	shared_ptr

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

Public Member Functions
GaussianFactorGraph::shared_ptr	iterate () override

	NonlinearConjugateGradientOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Parameters &params=Parameters(), const DirectionMethod &directionMethod=DirectionMethod::PolakRibiere)
	Constructor. More...

const Values &	optimize () override

	~NonlinearConjugateGradientOptimizer () override
	Destructor. More...

Public Member Functions inherited from gtsam::NonlinearOptimizer
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

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

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

Protected Attributes
DirectionMethod	directionMethod_ = DirectionMethod::PolakRibiere

Parameters	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...

Detailed Description

An implementation of the nonlinear CG method using the template below

Member Typedef Documentation

gtsam::NonlinearConjugateGradientOptimizer::NonlinearConjugateGradientOptimizer	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const Parameters &	params = `Parameters()`,
		const DirectionMethod &	directionMethod = `DirectionMethod::PolakRibiere`
	)