#include <graph_optimizer.h>

Inheritance diagram for graph_optimizer::GraphOptimizer:

Public Member Functions
	GraphOptimizer (const GraphOptimizerParams &params, std::unique_ptr< optimizers::Optimizer > optimizer)

	GraphOptimizer ()

virtual	~GraphOptimizer ()=default

void	AddNodeAdder (std::shared_ptr< node_adders::NodeAdder > node_adder)

void	AddFactorAdder (std::shared_ptr< factor_adders::FactorAdder > factor_adder)

int	AddFactors (const localization_common::Time start_time, const localization_common::Time end_time)

int	AddFactors (const std::pair< localization_common::Time, localization_common::Time > &start_and_end_time)

bool	Optimize ()

boost::optional< gtsam::Matrix >	Covariance (const gtsam::Key &key) const

boost::optional< gtsam::Matrix >	Covariance (const gtsam::Key &key_a, const gtsam::Key &key_b) const

const gtsam::NonlinearFactorGraph &	factors () const

gtsam::NonlinearFactorGraph &	factors ()

template<typename FactorType >
std::vector< boost::shared_ptr< const FactorType > >	Factors () const

int	num_factors () const

template<typename FactorType >
int	NumFactors () const

int	num_values () const

const GraphOptimizerParams &	params () const

std::shared_ptr< nodes::Values >	values ()

const gtsam::Values &	gtsam_values () const

localization_common::StatsLogger &	stats_logger ()

const localization_common::Timer &	optimization_timer () const

const localization_common::Averager &	optimization_iterations_averager () const

double	TotalGraphError () const

virtual bool	ValidGraph () const

virtual void	Print () const

void	SaveGraphDotFile (const std::string &output_path="graph.dot") const

boost::optional< const gtsam::Marginals & >	marginals () const

Friends
class	boost::serialization::access

Constructor & Destructor Documentation

◆ GraphOptimizer() [1/2]

graph_optimizer::GraphOptimizer::GraphOptimizer	(	const GraphOptimizerParams &	params,
		std::unique_ptr< optimizers::Optimizer >	optimizer
	)

◆ GraphOptimizer() [2/2]

graph_optimizer::GraphOptimizer::GraphOptimizer ( )

inline

◆ ~GraphOptimizer()

virtual graph_optimizer::GraphOptimizer::~GraphOptimizer ( )

virtualdefault

Member Function Documentation

◆ AddFactorAdder()

void graph_optimizer::GraphOptimizer::AddFactorAdder ( std::shared_ptr< factor_adders::FactorAdder > factor_adder )

◆ AddFactors() [1/2]

int graph_optimizer::GraphOptimizer::AddFactors	(	const localization_common::Time	start_time,
		const localization_common::Time	end_time
	)

◆ AddFactors() [2/2]

int graph_optimizer::GraphOptimizer::AddFactors ( const std::pair< localization_common::Time, localization_common::Time > & start_and_end_time )

◆ AddNodeAdder()

void graph_optimizer::GraphOptimizer::AddNodeAdder ( std::shared_ptr< node_adders::NodeAdder > node_adder )

◆ Covariance() [1/2]

boost::optional< gtsam::Matrix > graph_optimizer::GraphOptimizer::Covariance ( const gtsam::Key & key ) const

◆ Covariance() [2/2]

boost::optional< gtsam::Matrix > graph_optimizer::GraphOptimizer::Covariance	(	const gtsam::Key &	key_a,
		const gtsam::Key &	key_b
	)		const

◆ factors() [1/2]

gtsam::NonlinearFactorGraph& graph_optimizer::GraphOptimizer::factors ( )

◆ factors() [2/2]

gtsam::NonlinearFactorGraph & graph_optimizer::GraphOptimizer::factors ( ) const

◆ Factors()

template<typename FactorType >

std::vector< boost::shared_ptr< const FactorType > > graph_optimizer::GraphOptimizer::Factors

◆ gtsam_values()

gtsam::Values & graph_optimizer::GraphOptimizer::gtsam_values ( ) const

◆ marginals()

boost::optional< const gtsam::Marginals & > graph_optimizer::GraphOptimizer::marginals ( ) const

◆ num_factors()

int graph_optimizer::GraphOptimizer::num_factors ( ) const

◆ num_values()

int graph_optimizer::GraphOptimizer::num_values ( ) const

◆ NumFactors()

template<typename FactorType >

int graph_optimizer::GraphOptimizer::NumFactors

◆ optimization_iterations_averager()

const localization_common::Averager & graph_optimizer::GraphOptimizer::optimization_iterations_averager ( ) const

◆ optimization_timer()

const lc::Timer & graph_optimizer::GraphOptimizer::optimization_timer ( ) const

◆ Optimize()

bool graph_optimizer::GraphOptimizer::Optimize ( )

◆ params()

const GraphOptimizerParams & graph_optimizer::GraphOptimizer::params ( ) const

◆ Print()

void graph_optimizer::GraphOptimizer::Print ( ) const

virtual

◆ SaveGraphDotFile()

void graph_optimizer::GraphOptimizer::SaveGraphDotFile ( const std::string & output_path = "graph.dot" ) const

◆ stats_logger()

lc::StatsLogger & graph_optimizer::GraphOptimizer::stats_logger ( )

◆ TotalGraphError()

double graph_optimizer::GraphOptimizer::TotalGraphError ( ) const

◆ ValidGraph()

bool graph_optimizer::GraphOptimizer::ValidGraph ( ) const