#include <NonlinearConjugateGradientOptimizer.h>

Inheritance diagram for gtsam::NonlinearConjugateGradientOptimizer:

Collaboration diagram for gtsam::NonlinearConjugateGradientOptimizer:

[legend]

Public Types
typedef NonlinearOptimizer	Base

typedef NonlinearOptimizerParams	Parameters

typedef std::shared_ptr< NonlinearConjugateGradientOptimizer >	shared_ptr

Public Member Functions
	NonlinearConjugateGradientOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Parameters &params=Parameters())
	Constructor.

	~NonlinearConjugateGradientOptimizer () override
	Destructor.

GaussianFactorGraph::shared_ptr	iterate () override

const Values &	optimize () override

Standard interface
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

void	defaultOptimize ()

Protected Attributes
Parameters	params_

NonlinearFactorGraph	graph_
	The graph with nonlinear factors.

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

Detailed Description

An implementation of the nonlinear CG method using the template below

Member Function Documentation

◆ defaultOptimize()

void gtsam::NonlinearOptimizer::defaultOptimize ( )

protectedinherited

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

◆ iterate()

GaussianFactorGraph::shared_ptr gtsam::NonlinearConjugateGradientOptimizer::iterate ( )

overridevirtual

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

Implements gtsam::NonlinearOptimizer.

◆ optimize()

const Values& gtsam::NonlinearConjugateGradientOptimizer::optimize ( )

overridevirtual

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

Reimplemented from gtsam::NonlinearOptimizer.

◆ 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

◆ 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

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/NonlinearConjugateGradientOptimizer.h

Public Types

Public Member Functions

Protected Member Functions