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GaussNewtonOptimizer.h
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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
#pragma once
#include <gtsam/nonlinear/NonlinearOptimizer.h>
namespace gtsam {
class GaussNewtonOptimizer;
class GTSAM_EXPORT GaussNewtonParams : public NonlinearOptimizerParams {
public:
using OptimizerType = GaussNewtonOptimizer;
};
class GTSAM_EXPORT GaussNewtonOptimizer : public NonlinearOptimizer {
protected:
GaussNewtonParams params_;
public:
GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
const GaussNewtonParams& params = GaussNewtonParams());
GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
const Ordering& ordering);
~GaussNewtonOptimizer() override {}
GaussianFactorGraph::shared_ptr iterate() override;
const GaussNewtonParams& params() const { return params_; }
protected:
const NonlinearOptimizerParams& _params() const override { return params_; }
GaussNewtonParams ensureHasOrdering(GaussNewtonParams params, const NonlinearFactorGraph& graph) const;
};
}
NonlinearOptimizer.h
Base class and parameters for nonlinear optimization algorithms.
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::Ordering
Definition Ordering.h:34
gtsam::GaussianFactorGraph::shared_ptr
boost::shared_ptr< This > shared_ptr
shared_ptr to this class
Definition GaussianFactorGraph.h:81
gtsam::GaussNewtonParams
Parameters for Gauss-Newton optimization, inherits from NonlinearOptimizationParams.
Definition GaussNewtonOptimizer.h:30
gtsam::GaussNewtonOptimizer
This class performs Gauss-Newton nonlinear optimization.
Definition GaussNewtonOptimizer.h:38
gtsam::GaussNewtonOptimizer::params
const GaussNewtonParams & params() const
Read-only access the parameters.
Definition GaussNewtonOptimizer.h:82
gtsam::GaussNewtonOptimizer::~GaussNewtonOptimizer
~GaussNewtonOptimizer() override
Virtual destructor.
Definition GaussNewtonOptimizer.h:73
gtsam::GaussNewtonOptimizer::_params
const NonlinearOptimizerParams & _params() const override
Access the parameters (base class version).
Definition GaussNewtonOptimizer.h:88
gtsam::GaussNewtonOptimizer::GaussNewtonOptimizer
GaussNewtonOptimizer(const NonlinearFactorGraph &graph, const Values &initialValues, const GaussNewtonParams &params=GaussNewtonParams())
Standard constructor, requires a nonlinear factor graph, initial variable assignments,...
Definition GaussNewtonOptimizer.cpp:29
gtsam::NonlinearFactorGraph
Definition NonlinearFactorGraph.h:55
gtsam::NonlinearOptimizer::graph
const NonlinearFactorGraph & graph() const
return the graph with nonlinear factors
Definition NonlinearOptimizer.h:118
gtsam::NonlinearOptimizer::NonlinearOptimizer
NonlinearOptimizer(const NonlinearFactorGraph &graph, std::unique_ptr< internal::NonlinearOptimizerState > state)
Constructor for initial construction of base classes.
Definition NonlinearOptimizer.cpp:44
gtsam::NonlinearOptimizerParams
The common parameters for Nonlinear optimizers.
Definition NonlinearOptimizerParams.h:34
gtsam::Values
A non-templated config holding any types of Manifold-group elements.
Definition Values.h:65