gtsam  4.0.0
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gtsam::NonlinearConjugateGradientOptimizer Class Reference

Detailed Description

An implementation of the nonlinear CG method using the template below.

+ Inheritance diagram for gtsam::NonlinearConjugateGradientOptimizer:

Public Member Functions

 NonlinearConjugateGradientOptimizer (const NonlinearFactorGraph &graph, const Values &initialValues, const Parameters &params=Parameters())
 Constructor.
 
virtual ~NonlinearConjugateGradientOptimizer ()
 Destructor.
 
GaussianFactorGraph::shared_ptr iterate () override
 Perform a single iteration, returning a new NonlinearOptimizer class containing the updated variable assignments, which may be retrieved with values().
 
const Values & optimize () override
 Optimize for the maximum-likelihood estimate, returning a new NonlinearOptimizer class containing the optimized variable assignments, which may be retrieved with values(). More...
 
- 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
 
size_t iterations () const
 return number of iterations
 
const Values & values () const
 return values
 
virtual ~NonlinearOptimizer ()
 Virtual destructor.
 
virtual VectorValues solve (const GaussianFactorGraph &gfg, const NonlinearOptimizerParams &params) const
 Default function to do linear solve, i.e. More...
 

Public Types

typedef NonlinearOptimizer Base
 
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 Member Functions

const NonlinearOptimizerParams & _params () const override
 
- 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, std::unique_ptr< internal::NonlinearOptimizerState > state)
 Constructor for initial construction of base classes. More...
 

Protected Attributes

Parameters params_
 
- Protected Attributes inherited from gtsam::NonlinearOptimizer
NonlinearFactorGraph graph_
 The graph with nonlinear factors.
 
std::unique_ptr< internal::NonlinearOptimizerState > state_
 PIMPL'd state.
 

Member Function Documentation

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

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: