Normal Levenberg-Marquardt optimizer for graph SLAM. More...

#include <normal_levenberg_optimizer.hpp>

Inheritance diagram for NormalLevenbergOptimizer:

Collaboration diagram for NormalLevenbergOptimizer:

Public Member Functions
	NormalLevenbergOptimizer (const SLAMParameters &params)

	~NormalLevenbergOptimizer () override=default

std::shared_ptr< BaseOptimizer >	clone () const override
	Clone the optimizer.

gtsam::Values	optimize (gtsam::NonlinearFactorGraph &factor_graph, gtsam::Values &graph_values, unsigned int pose_num, unsigned int landmark_num) override
	Optimize the graph.

Public Member Functions inherited from BaseOptimizer
	BaseOptimizer (const SLAMParameters &params)

	BaseOptimizer (const BaseOptimizer &other)

BaseOptimizer &	operator= (const BaseOptimizer &other)

virtual	~BaseOptimizer ()=default

Additional Inherited Members
Protected Attributes inherited from BaseOptimizer
const SLAMParameters &	_params_

Detailed Description

Normal Levenberg-Marquardt optimizer for graph SLAM.

This class implements the normal Levenberg-Marquardt optimizer for graph SLAM It uses the GTSAM Levenberg-Marquardt implementation to optimize the factor graph

Definition at line 12 of file normal_levenberg_optimizer.hpp.

Constructor & Destructor Documentation

◆ NormalLevenbergOptimizer()

NormalLevenbergOptimizer::NormalLevenbergOptimizer ( const SLAMParameters & params )

Definition at line 3 of file normal_levenberg_optimizer.cpp.

◆ ~NormalLevenbergOptimizer()

NormalLevenbergOptimizer::~NormalLevenbergOptimizer ( )

overridedefault

Member Function Documentation

◆ clone()

std::shared_ptr< BaseOptimizer > NormalLevenbergOptimizer::clone ( ) const

overridevirtual

Clone the optimizer.

This method is used to create a copy of the optimizer It is useful for polymorphic classes that use pointers to base class

Returns: A shared pointer to the cloned optimizer

Implements BaseOptimizer.

Definition at line 6 of file normal_levenberg_optimizer.cpp.

◆ optimize()

gtsam::Values NormalLevenbergOptimizer::optimize	(	gtsam::NonlinearFactorGraph &	factor_graph,
		gtsam::Values &	graph_values,
		unsigned int	pose_num,
		unsigned int	landmark_num
	)

overridevirtual

Optimize the graph.

This method is used to run the optimization on the graph It also updates the pose and the graph values accordingly afterwards It may change the factor graph

Parameters

factor_graph	The factor graph to optimize
graph_values	The values to optimize
pose_num	The number of poses in the graph
landmark_num	The number of landmarks in the graph

Returns: The optimized values

Implements BaseOptimizer.

Definition at line 10 of file normal_levenberg_optimizer.cpp.

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

src/slam/include/slam_solver/graph_slam_solver/optimizer/normal_levenberg_optimizer.hpp
src/slam/src/slam_solver/graph_slam_solver/optimizer/normal_levenberg_optimizer.cpp

Public Member Functions