gtsam::GaussNewtonOptimizer Class Reference

#include <GaussNewtonOptimizer.h>

Inheritance diagram for gtsam::GaussNewtonOptimizer:

Collaboration diagram for gtsam::GaussNewtonOptimizer:

Public Types
using	shared_ptr = std::shared_ptr< const NonlinearOptimizer >

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
Standard interface
virtual const Values &	optimize ()
const Values &	optimizeSafely ()
double	error () const
	return error in current optimizer state
size_t	iterations () const
	return number of iterations in current optimizer state
const Values &	values () const
	return values in current optimizer state
const NonlinearFactorGraph &	graph () const
	return the graph with nonlinear factors
Advanced interface
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
void	defaultOptimize ()

Protected Attributes
GaussNewtonParams	params_
NonlinearFactorGraph	graph_
	The graph with nonlinear factors.
std::unique_ptr< internal::NonlinearOptimizerState >	state_
	PIMPL'd state.

Detailed Description

This class performs Gauss-Newton nonlinear optimization

Member Typedef Documentation

shared_ptr

using gtsam::NonlinearOptimizer::shared_ptr = std::shared_ptr<const NonlinearOptimizer>

inherited

A shared pointer to this class

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

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

~GaussNewtonOptimizer()

gtsam::GaussNewtonOptimizer::~GaussNewtonOptimizer ( )

inlineoverride

Virtual destructor

Member Function Documentation

_params()

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

inlineoverrideprotectedvirtual

Access the parameters (base class version)

Implements gtsam::NonlinearOptimizer.

defaultOptimize()

void gtsam::NonlinearOptimizer::defaultOptimize ( )

protectedinherited

A default implementation of the optimization loop, which calls iterate() until checkConvergence returns true.

ensureHasOrdering()

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

protected

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

iterate()

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

overridevirtual

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

Implements gtsam::NonlinearOptimizer.

optimize()

virtual const Values& gtsam::NonlinearOptimizer::optimize ( )

inlinevirtualinherited

Optimize for the maximum-likelihood estimate, returning a the optimized variable assignments.

This function simply calls iterate() in a loop, checking for convergence with check_convergence(). For fine-grain control over the optimization process, you may call iterate() and check_convergence() yourself, and if needed modify the optimization state between iterations.

Reimplemented in gtsam::NonlinearConjugateGradientOptimizer.

optimizeSafely()

const Values& gtsam::NonlinearOptimizer::optimizeSafely ( )

inherited

Optimize, but return empty result if any uncaught exception is thrown Intended for MATLAB. In C++, use above and catch exceptions. No message is printed: it is up to the caller to check the result

Parameters

optimizer

a non-linear optimizer

params()

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

inline

Read-only access the parameters

solve()

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

virtualinherited

Default function to do linear solve, i.e. optimize a GaussianFactorGraph

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/nonlinear/GaussNewtonOptimizer.h