Base class for graph optimizers. More...

#include <base_optimizer.hpp>

Inheritance diagram for BaseOptimizer:

Collaboration diagram for BaseOptimizer:

Public Member Functions
	BaseOptimizer (const SLAMParameters &params)

	BaseOptimizer (const BaseOptimizer &other)

BaseOptimizer &	operator= (const BaseOptimizer &other)

virtual std::shared_ptr< BaseOptimizer >	clone () const =0
	Clone the optimizer.

virtual	~BaseOptimizer ()=default

virtual gtsam::Values	optimize (gtsam::NonlinearFactorGraph &factor_graph, gtsam::Values &graph_values, unsigned int pose_num, unsigned int landmark_num)=0
	Optimize the graph.

Protected Attributes
const SLAMParameters &	_params_

Detailed Description

Base class for graph optimizers.

This class defines the interface for graph optimizers It is used to optimize the factor graph and update the pose and graph values accordingly

Definition at line 13 of file base_optimizer.hpp.

Constructor & Destructor Documentation

◆ BaseOptimizer() [1/2]

BaseOptimizer::BaseOptimizer ( const SLAMParameters & params )

inlineexplicit

Definition at line 18 of file base_optimizer.hpp.

◆ BaseOptimizer() [2/2]

BaseOptimizer::BaseOptimizer ( const BaseOptimizer & other )

inline

Definition at line 19 of file base_optimizer.hpp.

◆ ~BaseOptimizer()

virtual BaseOptimizer::~BaseOptimizer ( )

virtualdefault

Member Function Documentation

◆ clone()

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

pure virtual

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

Implemented in ISAM2Optimizer, NormalLevenbergOptimizer, and SlidingWindowLevenbergOptimizer.

◆ operator=()

BaseOptimizer & BaseOptimizer::operator= ( const BaseOptimizer & other )

inline

Definition at line 20 of file base_optimizer.hpp.

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◆ optimize()

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

pure virtual

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

Implemented in ISAM2Optimizer, NormalLevenbergOptimizer, and SlidingWindowLevenbergOptimizer.

Member Data Documentation

◆ _params_

const SLAMParameters& BaseOptimizer::_params_

protected

Definition at line 15 of file base_optimizer.hpp.

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

src/slam/include/slam_solver/graph_slam_solver/optimizer/base_optimizer.hpp

Public Member Functions

Protected Attributes