Inheritance diagram for gtsam::NonlinearConjugateGradientOptimizer:

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

virtual void	iterate ()
	Perform a single iteration, returning a new NonlinearOptimizer class containing the updated variable assignments, which may be retrieved with values().

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...

virtual const NonlinearOptimizerState &	_state () const

virtual const NonlinearOptimizerParams &	_params () const

Public Member Functions inherited from gtsam::NonlinearOptimizer
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 NonlinearOptimizer	Base

typedef NonlinearConjugateGradientState	States

typedef NonlinearOptimizerParams	Parameters

typedef boost::shared_ptr < NonlinearConjugateGradientOptimizer >	shared_ptr

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

Protected Attributes
States	state_

Parameters	params_

Protected Attributes inherited from gtsam::NonlinearOptimizer
NonlinearFactorGraph	graph_

Additional Inherited Members
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...

Member Function Documentation

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

virtual

Optimize for the maximum-likelihood estimate, returning a new NonlinearOptimizer class containing the optimized variable assignments, which may be retrieved with values().

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 from gtsam::NonlinearOptimizer.

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

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

Public Member Functions

Public Types

Protected Attributes

Additional Inherited Members

Member Function Documentation