Implementation of the Gauss Newton Algorithm. More...

#include <optimization_algorithm_gauss_newton.h>

Inheritance diagram for g2o::OptimizationAlgorithmGaussNewton:

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Collaboration diagram for g2o::OptimizationAlgorithmGaussNewton:

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Public Member Functions
	OptimizationAlgorithmGaussNewton (std::unique_ptr< 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< MatrixX > &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
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
SparseOptimizer *	optimizer ()
void	setOptimizer (SparseOptimizer *optimizer)
const PropertyMap &	properties () const
	return the properties of the solver
bool	updatePropertiesFromString (const std::string &propString)
void	printProperties (std::ostream &os) const

Private Attributes
std::unique_ptr< Solver >	m_solver

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
PropertyMap	_properties

Detailed Description

Implementation of the Gauss Newton Algorithm.

Definition at line 40 of file optimization_algorithm_gauss_newton.h.

Constructor & Destructor Documentation

◆ OptimizationAlgorithmGaussNewton()

g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton ( std::unique_ptr< Solver > solver )

explicit

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

Definition at line 43 of file optimization_algorithm_gauss_newton.cpp.

45 : OptimizationAlgorithmWithHessian(*solver.get()),

46 m_solver{std::move(solver)} {}

g2o::OptimizationAlgorithmGaussNewton::m_solver

std::unique_ptr< Solver > m_solver

Definition optimization_algorithm_gauss_newton.h:55

g2o::OptimizationAlgorithmWithHessian::solver

Solver & solver()

return the underlying solver used to solve the linear system

Definition optimization_algorithm_with_hessian.h:61

g2o::OptimizationAlgorithmWithHessian::OptimizationAlgorithmWithHessian

OptimizationAlgorithmWithHessian(Solver &solver)

Definition optimization_algorithm_with_hessian.cpp:39

References m_solver, g2o::OptimizationAlgorithmWithHessian::OptimizationAlgorithmWithHessian(), and g2o::OptimizationAlgorithmWithHessian::solver().

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

◆ ~OptimizationAlgorithmGaussNewton()

g2o::OptimizationAlgorithmGaussNewton::~OptimizationAlgorithmGaussNewton ( )

virtual

Definition at line 48 of file optimization_algorithm_gauss_newton.cpp.

48{}

Member Function Documentation

◆ printVerbose()

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 97 of file optimization_algorithm_gauss_newton.cpp.

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

References g2o::OptimizationAlgorithmWithHessian::_solver.

◆ solve()

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.

                                {
  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) {
      G2O_WARN("{}: Failure while building CCS structure", __PRETTY_FUNCTION__);
      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;
}