Detailed Description

This class performs Levenberg-Marquardt nonlinear optimization.

Inheritance diagram for gtsam::LevenbergMarquardtOptimizer:

Advanced interface
class	::NonlinearOptimizerMoreOptimizationTest

virtual	~LevenbergMarquardtOptimizer ()
	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 LevenbergMarquardtParams &	params () const
	Read-only access the parameters.

LevenbergMarquardtParams &	params ()
	Read/write access the parameters.

const LevenbergMarquardtState &	state () const
	Read-only access the last state.

LevenbergMarquardtState &	state ()
	Read/write access the last state. More...

GaussianFactorGraph::shared_ptr	buildDampedSystem (const GaussianFactorGraph &linear)
	Build a damped system for a specific lambda.

void	writeLogFile (double currentError)

Public Member Functions
Standard interface
	LevenbergMarquardtOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const LevenbergMarquardtParams &params=LevenbergMarquardtParams())
	Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. More...

	LevenbergMarquardtOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Ordering &ordering)
	Standard constructor, requires a nonlinear factor graph, initial variable assignments, and optimization parameters. More...

double	lambda () const
	Access the current damping value.

void	increaseLambda ()

void	decreaseLambda (double stepQuality)

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

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

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...

Public Types
typedef boost::shared_ptr < LevenbergMarquardtOptimizer >	shared_ptr

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

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)

LevenbergMarquardtParams	ensureHasOrdering (LevenbergMarquardtParams params, const NonlinearFactorGraph &graph) const
	Internal function for computing a COLAMD ordering if no ordering is specified.

virtual GaussianFactorGraph::shared_ptr	linearize () const
	linearize, can be overwritten

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
LevenbergMarquardtParams	params_
	LM parameters.

LevenbergMarquardtState	state_
	optimization state

Protected Attributes inherited from gtsam::NonlinearOptimizer
NonlinearFactorGraph	graph_

Constructor & Destructor Documentation

gtsam::LevenbergMarquardtOptimizer::LevenbergMarquardtOptimizer	(	const NonlinearFactorGraph &	graph,
		const Values &	initialValues,
		const LevenbergMarquardtParams &	params = `LevenbergMarquardtParams()`
	)

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::LevenbergMarquardtOptimizer::LevenbergMarquardtOptimizer	(	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

LevenbergMarquardtState& gtsam::LevenbergMarquardtOptimizer::state ( )

inline

Read/write access the last state.

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

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

/home/cbeall3/git/gtsam/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
/home/cbeall3/git/gtsam/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp

Detailed Description

Advanced interface

Public Member Functions

Public Types

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation