#include <optimizer.h>

Inheritance diagram for optimizers::Optimizer:

Public Member Functions
	Optimizer (const OptimizerParams &params)

virtual	~Optimizer ()=default

virtual bool	Optimize (const gtsam::NonlinearFactorGraph &factors, gtsam::Values &values)=0

virtual 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

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

virtual int	iterations () const =0

Protected Member Functions
void	CalculateMarginals (const gtsam::NonlinearFactorGraph &factors, const gtsam::Values &values)

Friends
class	boost::serialization::access

Constructor & Destructor Documentation

◆ Optimizer()

optimizers::Optimizer::Optimizer ( const OptimizerParams & params )

explicit

◆ ~Optimizer()

virtual optimizers::Optimizer::~Optimizer ( )

virtualdefault

Member Function Documentation

◆ CalculateMarginals()

void optimizers::Optimizer::CalculateMarginals	(	const gtsam::NonlinearFactorGraph &	factors,
		const gtsam::Values &	values
	)

protected

◆ Covariance() [1/2]

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

virtual

◆ Covariance() [2/2]

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

◆ iterations()

virtual int optimizers::Optimizer::iterations ( ) const

pure virtual

Implemented in optimizers::ISAM2Optimizer, and optimizers::NonlinearOptimizer.

◆ marginals()

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

◆ Optimize()

virtual bool optimizers::Optimizer::Optimize	(	const gtsam::NonlinearFactorGraph &	factors,
		gtsam::Values &	values
	)

pure virtual

Implemented in optimizers::ISAM2Optimizer, and optimizers::NonlinearOptimizer.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

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

localization/optimizers/include/optimizers/optimizer.h
localization/optimizers/src/optimizer.cc

Public Member Functions

Protected Member Functions

Friends