g2o::OptimizationAlgorithmGaussNewton Class Reference

Implementation of the Gauss Newton Algorithm. More...

#include <optimization_algorithm_gauss_newton.h>

Inheritance diagram for g2o::OptimizationAlgorithmGaussNewton:

Collaboration diagram for g2o::OptimizationAlgorithmGaussNewton:

Public Member Functions
	OptimizationAlgorithmGaussNewton (Solver *solver)
virtual	~OptimizationAlgorithmGaussNewton ()
virtual SolverResult	solve (int iteration, bool online=false)
virtual void	printVerbose (std::ostream &os) const
Public Member Functions inherited from g2o::OptimizationAlgorithmWithHessian
	OptimizationAlgorithmWithHessian (Solver *solver)
virtual	~OptimizationAlgorithmWithHessian ()
virtual bool	init (bool online=false)
virtual bool	computeMarginals (SparseBlockMatrix< MatrixXD > &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 More...
virtual void	setWriteDebug (bool writeDebug)
virtual bool	writeDebug () const
Public Member Functions inherited from g2o::OptimizationAlgorithm
	OptimizationAlgorithm ()
virtual	~OptimizationAlgorithm ()
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

Additional Inherited Members
Protected Attributes inherited from g2o::OptimizationAlgorithmWithHessian
Solver *	_solver
Property< bool > *	_writeDebug
Protected Attributes inherited from g2o::OptimizationAlgorithm
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...

Detailed Description

Implementation of the Gauss Newton Algorithm.

Definition at line 38 of file optimization_algorithm_gauss_newton.h.

Constructor & Destructor Documentation

g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton ( Solver *  solver )

explicit

construct the Gauss Newton algorithm, which use the given Solver for solving the linearized system.

Definition at line 41 of file optimization_algorithm_gauss_newton.cpp.

                                                                                   :
    OptimizationAlgorithmWithHessian(solver)
  {
  }

g2o::OptimizationAlgorithmGaussNewton::~OptimizationAlgorithmGaussNewton ( )

virtual

Definition at line 46 of file optimization_algorithm_gauss_newton.cpp.

  {
  }

Member Function Documentation

void g2o::OptimizationAlgorithmGaussNewton::printVerbose ( std::ostream &  os ) const

virtual

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

Reimplemented from g2o::OptimizationAlgorithm.

Definition at line 95 of file optimization_algorithm_gauss_newton.cpp.

References g2o::OptimizationAlgorithmWithHessian::_solver, and g2o::Solver::schur().

  {
    os
      << "\t schur= " << _solver->schur();
  }

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

virtual

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

Parameters

iteration

indicates the current iteration

Implements g2o::OptimizationAlgorithm.

Reimplemented in g2o::SolverSLAM2DLinear.

Definition at line 50 of file optimization_algorithm_gauss_newton.cpp.

References __PRETTY_FUNCTION__, g2o::OptimizationAlgorithm::_optimizer, g2o::OptimizationAlgorithmWithHessian::_solver, g2o::Solver::buildStructure(), g2o::Solver::buildSystem(), g2o::SparseOptimizer::computeActiveErrors(), g2o::get_monotonic_time(), g2o::G2OBatchStatistics::globalStats(), OK, g2o::Solver::optimizer(), g2o::Solver::solve(), g2o::G2OBatchStatistics::timeLinearSolution, g2o::G2OBatchStatistics::timeQuadraticForm, g2o::G2OBatchStatistics::timeResiduals, g2o::G2OBatchStatistics::timeUpdate, and g2o::Solver::x().

Referenced by g2o::SolverSLAM2DLinear::solve().

  {
    assert(_optimizer && "_optimizer not set");
    assert(_solver->optimizer() == _optimizer && "underlying linear solver operates on different graph");
    bool ok = true;
    
    //here so that correct component for max-mixtures can be computed before the build structure
    double t=get_monotonic_time();
    _optimizer->computeActiveErrors();
    G2OBatchStatistics* globalStats = G2OBatchStatistics::globalStats();
    if (globalStats) {
      globalStats->timeResiduals = get_monotonic_time()-t;
    }
    
    if (iteration == 0 && !online) { // built up the CCS structure, here due to easy time measure
      ok = _solver->buildStructure();
      if (! ok) {
        cerr << __PRETTY_FUNCTION__ << ": Failure while building CCS structure" << endl;
        return OptimizationAlgorithm::Fail;
      }
    }

    t=get_monotonic_time();
    _solver->buildSystem();
    if (globalStats) {
      globalStats->timeQuadraticForm = get_monotonic_time()-t;
      t=get_monotonic_time();
    }

    ok = _solver->solve();
    if (globalStats) {
      globalStats->timeLinearSolution = get_monotonic_time()-t;
      t=get_monotonic_time();
    }

    _optimizer->update(_solver->x());
    if (globalStats) {
      globalStats->timeUpdate = get_monotonic_time()-t;
    }
    if (ok)
      return OK;
    else
      return Fail;
  }

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

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