gtsam::GaussNewtonOptimizer Class Reference

Detailed Description

This class performs Gauss-Newton nonlinear optimization.

Inheritance diagram for gtsam::GaussNewtonOptimizer:

Public Member Functions
Standard interface
	GaussNewtonOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const GaussNewtonParams &params=GaussNewtonParams())
	Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. More...
	GaussNewtonOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Ordering &ordering)
	Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. More...
Advanced interface
virtual	~GaussNewtonOptimizer ()
	Virtual destructor.
virtual void	iterate ()
	Perform a single iteration, returning a new NonlinearOptimizer class containing the updated variable assignments, which may be retrieved with values().
const GaussNewtonParams &	params () const
	Read-only access the parameters.
GaussNewtonParams &	params ()
	Read/write access the parameters. More...
const GaussNewtonState &	state () const
	Read-only access the last state.
GaussNewtonState &	state ()
	Read/write access the last state. More...
Public Member Functions inherited from gtsam::NonlinearOptimizer
virtual const Values &	optimize ()
	Optimize for the maximum-likelihood estimate, returning a new NonlinearOptimizer class containing the optimized variable assignments, which may be retrieved with values(). More...
const Values &	optimizeSafely ()
	Optimize, but return empty result if any uncaught exception is thrown Intended for MATLAB. More...
double	error () const
	return error
int	iterations () const
	return number of iterations
const Values &	values () const
	return values
virtual	~NonlinearOptimizer ()
	Virtual destructor.
virtual VectorValues	solve (const GaussianFactorGraph &gfg, const Values &initial, const NonlinearOptimizerParams &params) const
	Default function to do linear solve, i.e. More...

Protected Member Functions
virtual const NonlinearOptimizerParams &	_params () const
	Access the parameters (base class version)
virtual const NonlinearOptimizerState &	_state () const
	Access the state (base class version)
GaussNewtonParams	ensureHasOrdering (GaussNewtonParams params, const NonlinearFactorGraph &graph) const
	Internal function for computing a COLAMD ordering if no ordering is specified.
Protected Member Functions inherited from gtsam::NonlinearOptimizer
void	defaultOptimize ()
	A default implementation of the optimization loop, which calls iterate() until checkConvergence returns true.
	NonlinearOptimizer (const NonlinearFactorGraph &graph)
	Constructor for initial construction of base classes. More...

Protected Attributes
GaussNewtonParams	params_
GaussNewtonState	state_
Protected Attributes inherited from gtsam::NonlinearOptimizer
NonlinearFactorGraph	graph_

Additional Inherited Members
Public Types inherited from gtsam::NonlinearOptimizer
typedef boost::shared_ptr < const NonlinearOptimizer >	shared_ptr
	A shared pointer to this class.

Constructor & Destructor Documentation

gtsam::GaussNewtonOptimizer::GaussNewtonOptimizer ( const NonlinearFactorGraph &  graph, const Values &  initialValues, const GaussNewtonParams &  params = GaussNewtonParams()  )

inline

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

gtsam::GaussNewtonOptimizer::GaussNewtonOptimizer ( const NonlinearFactorGraph &  graph, const Values &  initialValues, const Ordering &  ordering  )

inline

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

Member Function Documentation

GaussNewtonParams& gtsam::GaussNewtonOptimizer::params ( )

inline

Read/write access the parameters.

GaussNewtonState& gtsam::GaussNewtonOptimizer::state ( )

inline

Read/write access the last state.

When modifying the state, the error, etc. must be consistent before calling iterate()

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

• /home/cbeall3/git/gtsam/gtsam/nonlinear/GaussNewtonOptimizer.h
• /home/cbeall3/git/gtsam/gtsam/nonlinear/GaussNewtonOptimizer.cpp