g2o::OptimizationAlgorithm Class Reference

Generic interface for a non-linear solver operating on a graph. More...

#include <optimization_algorithm.h>

Inheritance diagram for g2o::OptimizationAlgorithm:

Collaboration diagram for g2o::OptimizationAlgorithm:

Public Member Functions
	OptimizationAlgorithm ()
virtual	~OptimizationAlgorithm ()
virtual bool	init (bool online=false)=0
virtual SolverResult	solve (int iteration, bool online=false)=0
virtual bool	computeMarginals (SparseBlockMatrix< MatrixXD > &spinv, const std::vector< std::pair< int, int > > &blockIndices)=0
virtual bool	updateStructure (const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)=0
virtual void	printVerbose (std::ostream &os) const
const SparseOptimizer *	optimizer () const
	return the optimizer operating on More...
SparseOptimizer *	optimizer ()
void	setOptimizer (SparseOptimizer *optimizer)
const PropertyMap &	properties () const
	return the properties of the solver More...
bool	updatePropertiesFromString (const std::string &propString)
void	printProperties (std::ostream &os) const

Protected Attributes
SparseOptimizer *	_optimizer
	the optimizer the solver is working on More...
PropertyMap	_properties
	the properties of your solver, use this to store the parameters of your solver More...

Private Member Functions
	OptimizationAlgorithm (const OptimizationAlgorithm &)
OptimizationAlgorithm &	operator= (const OptimizationAlgorithm &)

Detailed Description

Generic interface for a non-linear solver operating on a graph.

Definition at line 47 of file optimization_algorithm.h.

Constructor & Destructor Documentation

g2o::OptimizationAlgorithm::OptimizationAlgorithm

(

)

Definition at line 33 of file optimization_algorithm.cpp.

                                             :
  _optimizer(0)
{
}

g2o::OptimizationAlgorithm::~OptimizationAlgorithm ( )

virtual

Definition at line 38 of file optimization_algorithm.cpp.

{
}

g2o::OptimizationAlgorithm::OptimizationAlgorithm ( const OptimizationAlgorithm &  )

inlineprivate

Definition at line 112 of file optimization_algorithm.h.

{ }

Member Function Documentation

virtual bool g2o::OptimizationAlgorithm::computeMarginals ( SparseBlockMatrix< MatrixXD > &  spinv, const std::vector< std::pair< int, int > > &  blockIndices  )

pure 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.

Implemented in g2o::StructureOnlySolver< PointDoF >, and g2o::OptimizationAlgorithmWithHessian.

Referenced by g2o::SparseOptimizer::computeMarginals().

virtual bool g2o::OptimizationAlgorithm::init ( bool  online = false )

pure virtual

initialize the solver, called once before the first call to solve()

Implemented in g2o::StructureOnlySolver< PointDoF >, and g2o::OptimizationAlgorithmWithHessian.

Referenced by g2o::computeSimpleStars(), g2o::Star::labelStarEdges(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), and g2o::SparseOptimizer::optimize().

OptimizationAlgorithm& g2o::OptimizationAlgorithm::operator= ( const OptimizationAlgorithm &  )

inlineprivate

Definition at line 113 of file optimization_algorithm.h.

{ return *this; }

const SparseOptimizer* g2o::OptimizationAlgorithm::optimizer ( ) const

inline

return the optimizer operating on

Definition at line 85 of file optimization_algorithm.h.

Referenced by g2o::StructureOnlySolver< PointDoF >::init(), and setOptimizer().

{ return _optimizer;}

SparseOptimizer* g2o::OptimizationAlgorithm::optimizer ( )

inline

Definition at line 86 of file optimization_algorithm.h.

{ return _optimizer;}

void g2o::OptimizationAlgorithm::printProperties

(

std::ostream &

os

)

const

print the properties to a stream in a human readable fashion

Definition at line 42 of file optimization_algorithm.cpp.

References _properties, and g2o::BaseProperty::toString().

Referenced by main().

{
  os << "------------- Algorithm Properties -------------"  << endl;
  for (PropertyMap::const_iterator it = _properties.begin(); it != _properties.end(); ++it) {
    BaseProperty* p = it->second;
    os << it->first << "\t" << p->toString() << endl;
  }
  os << "------------------------------------------------" << endl;
}

virtual void g2o::OptimizationAlgorithm::printVerbose ( std::ostream &  os ) const

inlinevirtual

called by the optimizer if verbose. re-implement, if you want to print something

Reimplemented in g2o::OptimizationAlgorithmDogleg, g2o::OptimizationAlgorithmGaussNewton, and g2o::OptimizationAlgorithmLevenberg.

Definition at line 81 of file optimization_algorithm.h.

Referenced by g2o::SparseOptimizer::optimize().

{(void) os;};

const PropertyMap& g2o::OptimizationAlgorithm::properties ( ) const

inline

return the properties of the solver

Definition at line 94 of file optimization_algorithm.h.

Referenced by MainWindow::on_btnOptimizerParamaters_clicked().

{ return _properties;}

void g2o::OptimizationAlgorithm::setOptimizer

(

SparseOptimizer *

optimizer

)

specify on which optimizer the solver should work on

Definition at line 57 of file optimization_algorithm.cpp.

References _optimizer, and optimizer().

Referenced by g2o::SparseOptimizer::setAlgorithm().

{
  _optimizer = optimizer;
}

virtual SolverResult g2o::OptimizationAlgorithm::solve ( int  iteration, bool  online = false  )

pure virtual

Solve one iteration. The SparseOptimizer running on-top will call this for the given number of iterations.

Parameters

iteration

indicates the current iteration

Implemented in g2o::StructureOnlySolver< PointDoF >, g2o::SolverSLAM2DLinear, g2o::OptimizationAlgorithmDogleg, g2o::OptimizationAlgorithmGaussNewton, and g2o::OptimizationAlgorithmLevenberg.

Referenced by g2o::SparseOptimizer::optimize().

bool g2o::OptimizationAlgorithm::updatePropertiesFromString

(

const std::string &

propString

)

update the properties from a string, see PropertyMap::updateMapFromString()

Definition at line 52 of file optimization_algorithm.cpp.

References _properties, and g2o::PropertyMap::updateMapFromString().

Referenced by main().

{
  return _properties.updateMapFromString(propString);
}

virtual bool g2o::OptimizationAlgorithm::updateStructure ( const std::vector< HyperGraph::Vertex * > &  vset, const HyperGraph::EdgeSet &  edges  )

pure virtual

update the structures for online processing

Implemented in g2o::StructureOnlySolver< PointDoF >, and g2o::OptimizationAlgorithmWithHessian.

Referenced by g2o::SparseOptimizer::updateInitialization().

Member Data Documentation

SparseOptimizer* g2o::OptimizationAlgorithm::_optimizer

protected

the optimizer the solver is working on

Definition at line 107 of file optimization_algorithm.h.

Referenced by g2o::OptimizationAlgorithmLevenberg::computeLambdaInit(), g2o::OptimizationAlgorithmWithHessian::init(), setOptimizer(), g2o::OptimizationAlgorithmLevenberg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmDogleg::solve(), and g2o::SolverSLAM2DLinear::solveOrientation().

PropertyMap g2o::OptimizationAlgorithm::_properties

protected

the properties of your solver, use this to store the parameters of your solver

Definition at line 108 of file optimization_algorithm.h.

Referenced by g2o::OptimizationAlgorithmDogleg::OptimizationAlgorithmDogleg(), g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(), g2o::OptimizationAlgorithmWithHessian::OptimizationAlgorithmWithHessian(), printProperties(), and updatePropertiesFromString().

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

• /home/xuezhisd/CLionProjects/g2o/g2o/core/optimization_algorithm.h
• /home/xuezhisd/CLionProjects/g2o/g2o/core/optimization_algorithm.cpp