Implementation of the Gauss Newton Algorithm. More...

Inheritance diagram for OptimizationAlgorithmGaussNewton< t_type >:

Collaboration diagram for OptimizationAlgorithmGaussNewton< t_type >:

Public Member Functions
	OptimizationAlgorithmGaussNewton ()
	construct the Gauss Newton algorithm, which use the given Solver for solving the linearized system.
void	optimize (uint04 iterations, bool online, IndexScratch &scratch)
	Runs the Gauss-Newton optimization for the given number of iterations.
virtual OptimizationAlgorithm::SolverResult	solve (int iteration, bool online, IndexScratch &scratch)
	Performs a single Gauss-Newton iteration.
Public Member Functions inherited from OptimizationAlgorithmWithHessian< t_type >
	OptimizationAlgorithmWithHessian ()
	Default constructor.
void	addEdge (HyperGraph::HGEdge *e)
	Adds an edge to the optimizer.
void	addVertex (HyperGraph::HGVertex &v)
	Adds a vertex to the optimizer.
bool	buildLinearStructure (IndexScratch &scratch)
	Builds the linear system structure.
void	clear ()
	Clears the solver state.
bool	init (bool online=false)
	Initializes the solver, detecting whether Schur complement should be used.
SparseOptimizer &	optimizer ()
	Returns a mutable reference to the underlying sparse optimizer.
void	updateLinearSystem ()
	Rebuilds the linear system (Hessian and gradient) from the current graph state.
bool	updateStructure (const Buffer< HyperGraph::HGVertex * > &vset, const Set< HyperGraph::HGVertex * > &edges)
	Updates the linear system structure after graph topology changes.

Additional Inherited Members
Public Types inherited from OptimizationAlgorithm
enum	SolverResult { Terminate =2 , OK =1 , Fail =-1 }
	Result codes returned by the solver after each iteration. More...
Public Attributes inherited from OptimizationAlgorithmWithHessian< t_type >
t_type	solver
	The underlying solver instance.

Detailed Description

template<class t_type>
class OptimizationAlgorithmGaussNewton< t_type >

Implementation of the Gauss Newton Algorithm.

Constructor & Destructor Documentation

template<class t_type>

OptimizationAlgorithmGaussNewton< t_type >::OptimizationAlgorithmGaussNewton ( )

inlineexplicit

construct the Gauss Newton algorithm, which use the given Solver for solving the linearized system.

Default constructor.

template<class t_type>

void OptimizationAlgorithmGaussNewton< t_type >::optimize	(	uint04	iterations,
		bool	online,
		IndexScratch &	scratch )

inline

Runs the Gauss-Newton optimization for the given number of iterations.

Parameters

[in]	iterations	Maximum number of iterations.
[in]	online	Whether this is an online (incremental) optimization.
[in]	scratch	Scratch buffers for pose and landmark indices.