g2o::OptimizationAlgorithmWithHessian Class Reference

Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg. More...

#include <optimization_algorithm_with_hessian.h>

Inheritance diagram for g2o::OptimizationAlgorithmWithHessian:

Collaboration diagram for g2o::OptimizationAlgorithmWithHessian:

Public Member Functions
	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 ()
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 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
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

Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg.

Definition at line 40 of file optimization_algorithm_with_hessian.h.

Constructor & Destructor Documentation

g2o::OptimizationAlgorithmWithHessian::OptimizationAlgorithmWithHessian ( Solver *  solver )

explicit

Definition at line 38 of file optimization_algorithm_with_hessian.cpp.

References g2o::OptimizationAlgorithm::_properties, _writeDebug, and g2o::PropertyMap::makeProperty().

                                                                                   :
    OptimizationAlgorithm(),
    _solver(solver)
  {
    _writeDebug = _properties.makeProperty<Property<bool> >("writeDebug", true);
  }

g2o::OptimizationAlgorithmWithHessian::~OptimizationAlgorithmWithHessian ( )

virtual

Definition at line 45 of file optimization_algorithm_with_hessian.cpp.

References _solver.

  {
    delete _solver;
  }

Member Function Documentation

bool g2o::OptimizationAlgorithmWithHessian::buildLinearStructure ( )

virtual

Definition at line 80 of file optimization_algorithm_with_hessian.cpp.

References _solver, and g2o::Solver::buildStructure().

Referenced by g2o::computeSimpleStars(), and g2o::Star::labelStarEdges().

  {
    return _solver ? _solver->buildStructure() : false;
  }

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

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 75 of file optimization_algorithm_with_hessian.cpp.

References _solver, and g2o::Solver::computeMarginals().

  {
    return _solver ? _solver->computeMarginals(spinv, blockIndices) : false;
  }

bool g2o::OptimizationAlgorithmWithHessian::init ( bool  online = false )

virtual

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

Implements g2o::OptimizationAlgorithm.

Definition at line 50 of file optimization_algorithm_with_hessian.cpp.

References g2o::OptimizationAlgorithm::_optimizer, _solver, _writeDebug, g2o::SparseOptimizer::activeVertices(), g2o::Solver::init(), g2o::OptimizableGraph::Vertex::marginalized(), g2o::Solver::setSchur(), g2o::Solver::setWriteDebug(), g2o::Solver::supportsSchur(), and g2o::Property< T >::value().

  {
    assert(_optimizer && "_optimizer not set");
    assert(_solver && "Solver not set");
    _solver->setWriteDebug(_writeDebug->value());
    bool useSchur=false;
    for (OptimizableGraph::VertexContainer::const_iterator it=_optimizer->activeVertices().begin(); it!=_optimizer->activeVertices().end(); ++it) {
      OptimizableGraph::Vertex* v= *it;
      if (v->marginalized()){
        useSchur=true;
        break;
      }
    }
    if (useSchur){
      if  (_solver->supportsSchur())
        _solver->setSchur(true);
    } else {
      if  (_solver->supportsSchur())
        _solver->setSchur(false);
    }

    bool initState = _solver->init(_optimizer, online);
    return initState;
  }

void g2o::OptimizationAlgorithmWithHessian::setWriteDebug ( bool  writeDebug )

virtual

write debug output of the Hessian if system is not positive definite

Definition at line 96 of file optimization_algorithm_with_hessian.cpp.

References _writeDebug, and g2o::Property< T >::setValue().

  {
    _writeDebug->setValue(writeDebug);
  }

Solver* g2o::OptimizationAlgorithmWithHessian::solver ( )

inline

return the underlying solver used to solve the linear system

Definition at line 57 of file optimization_algorithm_with_hessian.h.

Referenced by g2o::SparseOptimizerIncremental::initSolver().

{ return _solver;}

void g2o::OptimizationAlgorithmWithHessian::updateLinearSystem ( )

virtual

Definition at line 85 of file optimization_algorithm_with_hessian.cpp.

References _solver, and g2o::Solver::buildSystem().

Referenced by g2o::computeSimpleStars(), and g2o::Star::labelStarEdges().

  {
    if (_solver)
      _solver->buildSystem();
  }

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

virtual

update the structures for online processing

Implements g2o::OptimizationAlgorithm.

Definition at line 91 of file optimization_algorithm_with_hessian.cpp.

References _solver, and g2o::Solver::updateStructure().

  {
    return _solver ? _solver->updateStructure(vset, edges) : false;
  }

virtual bool g2o::OptimizationAlgorithmWithHessian::writeDebug ( ) const

inlinevirtual

Definition at line 63 of file optimization_algorithm_with_hessian.h.

{ return _writeDebug->value();}

Member Data Documentation

Solver* g2o::OptimizationAlgorithmWithHessian::_solver

protected

Definition at line 66 of file optimization_algorithm_with_hessian.h.

Referenced by buildLinearStructure(), computeMarginals(), g2o::OptimizationAlgorithmLevenberg::computeScale(), init(), g2o::OptimizationAlgorithmGaussNewton::printVerbose(), g2o::OptimizationAlgorithmLevenberg::printVerbose(), g2o::OptimizationAlgorithmLevenberg::solve(), g2o::OptimizationAlgorithmGaussNewton::solve(), g2o::OptimizationAlgorithmDogleg::solve(), updateLinearSystem(), updateStructure(), and ~OptimizationAlgorithmWithHessian().

Property<bool>* g2o::OptimizationAlgorithmWithHessian::_writeDebug

protected

Definition at line 67 of file optimization_algorithm_with_hessian.h.

Referenced by init(), OptimizationAlgorithmWithHessian(), and setWriteDebug().

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

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