Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg. More...
#include <optimization_algorithm_with_hessian.h>
Public Member Functions | |
| OptimizationAlgorithmWithHessian (Solver &solver) | |
| virtual | ~OptimizationAlgorithmWithHessian () |
| virtual bool | init (bool online=false) |
| virtual bool | computeMarginals (SparseBlockMatrix< MatrixX > &spinv, const std::vector< std::pair< int, int > > &blockIndices) |
| virtual bool | buildLinearStructure () |
| virtual void | updateLinearSystem () |
| virtual bool | updateStructure (const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges) |
| Solver & | solver () |
| return the underlying solver used to solve the linear system | |
| virtual void | setWriteDebug (bool writeDebug) |
| virtual bool | writeDebug () const |
| Public Member Functions inherited from g2o::OptimizationAlgorithm | |
| OptimizationAlgorithm () | |
| virtual | ~OptimizationAlgorithm () |
| virtual SolverResult | solve (int iteration, bool online=false)=0 |
| virtual void | printVerbose (std::ostream &os) const |
| const SparseOptimizer * | optimizer () const |
| return the optimizer operating on | |
| SparseOptimizer * | optimizer () |
| void | setOptimizer (SparseOptimizer *optimizer) |
| const PropertyMap & | properties () const |
| return the properties of the solver | |
| bool | updatePropertiesFromString (const std::string &propString) |
| void | printProperties (std::ostream &os) const |
Protected Attributes | |
| Solver & | _solver |
| Property< bool > * | _writeDebug |
| Protected Attributes inherited from g2o::OptimizationAlgorithm | |
| SparseOptimizer * | _optimizer |
| the optimizer the solver is working on | |
| PropertyMap | _properties |
Detailed Description
Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg.
Definition at line 41 of file optimization_algorithm_with_hessian.h.
Constructor & Destructor Documentation
◆ OptimizationAlgorithmWithHessian()
|
explicit |
Definition at line 39 of file optimization_algorithm_with_hessian.cpp.
References g2o::OptimizationAlgorithm::_properties, _solver, _writeDebug, g2o::OptimizationAlgorithm::OptimizationAlgorithm(), and solver().
Referenced by g2o::OptimizationAlgorithmDogleg::OptimizationAlgorithmDogleg(), g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(), and g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg().
◆ ~OptimizationAlgorithmWithHessian()
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virtual |
Definition at line 45 of file optimization_algorithm_with_hessian.cpp.
Member Function Documentation
◆ buildLinearStructure()
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virtual |
Definition at line 76 of file optimization_algorithm_with_hessian.cpp.
References _solver.
Referenced by g2o::computeSimpleStars(), and g2o::Star::labelStarEdges().
◆ computeMarginals()
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virtual |
computes the block diagonal elements of the pattern specified in the input and stores them in given SparseBlockMatrix. If your solver does not support computing the marginals, return false.
Implements g2o::OptimizationAlgorithm.
Definition at line 70 of file optimization_algorithm_with_hessian.cpp.
References _solver.
◆ init()
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virtual |
initialize the solver, called once before the first call to solve()
Implements g2o::OptimizationAlgorithm.
Definition at line 47 of file optimization_algorithm_with_hessian.cpp.
References g2o::OptimizationAlgorithm::_optimizer, _solver, _writeDebug, and g2o::OptimizableGraph::Vertex::marginalized().
◆ setWriteDebug()
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virtual |
write debug output of the Hessian if system is not positive definite
Definition at line 90 of file optimization_algorithm_with_hessian.cpp.
References _writeDebug, and writeDebug().
◆ solver()
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inline |
return the underlying solver used to solve the linear system
Definition at line 61 of file optimization_algorithm_with_hessian.h.
References _solver.
Referenced by g2o::SparseOptimizerIncremental::initSolver(), g2o::SparseOptimizerOnline::initSolver(), g2o::OptimizationAlgorithmDogleg::OptimizationAlgorithmDogleg(), g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(), g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(), OptimizationAlgorithmWithHessian(), and g2o::SolverSLAM2DLinear::SolverSLAM2DLinear().
◆ updateLinearSystem()
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virtual |
Definition at line 80 of file optimization_algorithm_with_hessian.cpp.
References _solver.
Referenced by g2o::computeSimpleStars(), and g2o::Star::labelStarEdges().
◆ updateStructure()
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virtual |
update the structures for online processing
Implements g2o::OptimizationAlgorithm.
Definition at line 84 of file optimization_algorithm_with_hessian.cpp.
References _solver.
◆ writeDebug()
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inlinevirtual |
Definition at line 67 of file optimization_algorithm_with_hessian.h.
References _writeDebug.
Referenced by setWriteDebug().
Member Data Documentation
◆ _solver
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protected |
Definition at line 70 of file optimization_algorithm_with_hessian.h.
Referenced by buildLinearStructure(), computeMarginals(), g2o::OptimizationAlgorithmLevenberg::computeScale(), init(), OptimizationAlgorithmWithHessian(), g2o::OptimizationAlgorithmGaussNewton::printVerbose(), g2o::OptimizationAlgorithmLevenberg::printVerbose(), g2o::OptimizationAlgorithmDogleg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmLevenberg::solve(), solver(), updateLinearSystem(), and updateStructure().
◆ _writeDebug
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protected |
Definition at line 71 of file optimization_algorithm_with_hessian.h.
Referenced by init(), OptimizationAlgorithmWithHessian(), setWriteDebug(), and writeDebug().
The documentation for this class was generated from the following files:
- /build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm_with_hessian.h
- /build/reproducible-path/g2o-0~20230806/g2o/core/optimization_algorithm_with_hessian.cpp
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