OptimizationAlgorithmWithHessian< t_solver >

Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg. More...

Inheritance diagram for OptimizationAlgorithmWithHessian< t_solver >:

Collaboration diagram for OptimizationAlgorithmWithHessian< t_solver >:

Public Member Functions
	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.
const SparseOptimizer &	optimizer () const
	Returns a const 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.

Public Attributes
t_solver	solver
	The underlying solver instance.

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...

Detailed Description

template<class t_solver>
class OptimizationAlgorithmWithHessian< t_solver >

Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg.

Definition at line 14 of file optimization_algorithm_with_hessian.h.

Member Function Documentation

addEdge()

template<class t_solver>

void OptimizationAlgorithmWithHessian< t_solver >::addEdge ( HyperGraph::HGEdge * e )

inline

Adds an edge to the optimizer.

Parameters

[in]

e

The edge to add.

Definition at line 36 of file optimization_algorithm_with_hessian.h.

References solver.

addVertex()

template<class t_solver>

void OptimizationAlgorithmWithHessian< t_solver >::addVertex ( HyperGraph::HGVertex & v )

inline

Adds a vertex to the optimizer.

Parameters

[in]

v

The vertex to add.

Definition at line 30 of file optimization_algorithm_with_hessian.h.

References solver.

buildLinearStructure()

template<class t_solver>

bool OptimizationAlgorithmWithHessian< t_solver >::buildLinearStructure ( IndexScratch & scratch )

inline

Builds the linear system structure.

Parameters

[in]

scratch

Scratch buffers for pose and landmark indices.

Returns

True on success.

Definition at line 82 of file optimization_algorithm_with_hessian.h.

References solver.

init()

template<class t_solver>

bool OptimizationAlgorithmWithHessian< t_solver >::init ( bool online = false )

inline

Initializes the solver, detecting whether Schur complement should be used.

Parameters

[in]

online

Whether this is an online (incremental) optimization.

Returns

True on success.

Definition at line 53 of file optimization_algorithm_with_hessian.h.

References optimizer(), and solver.

Referenced by OptimizationAlgorithmGaussNewton< t_type >::optimize(), and OptimizationAlgorithmLevenberg< t_type >::optimize().

updateStructure()

template<class t_solver>

bool OptimizationAlgorithmWithHessian< t_solver >::updateStructure ( const Buffer< HyperGraph::HGVertex * > & vset, const Set< HyperGraph::HGVertex * > & edges )

inline

Updates the linear system structure after graph topology changes.

Parameters

[in]	vset	The updated vertex set.
[in]	edges	The updated edge set.

Returns

True on success.

Definition at line 97 of file optimization_algorithm_with_hessian.h.

References solver.

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

• GraphOptimization/Headers/optimization_algorithm_with_hessian.h