holistic_fusion::OptimizerLM Class Reference

#include <OptimizerLM.hpp>

Inheritance diagram for holistic_fusion::OptimizerLM:

Collaboration diagram for holistic_fusion::OptimizerLM:

Public Member Functions
	OptimizerLM (const std::shared_ptr< GraphConfig > graphConfigPtr)
	~OptimizerLM ()=default
bool	updateExistingValues (const gtsam::Values &newGraphValues) override
Public Member Functions inherited from holistic_fusion::OptimizerBase
	OptimizerBase (const std::shared_ptr< GraphConfig > graphConfigPtr)
	~OptimizerBase ()=default
virtual bool	update ()=0
virtual bool	update (const gtsam::NonlinearFactorGraph &newGraphFactors, const gtsam::Values &newGraphValues, const std::map< gtsam::Key, double > &newGraphKeysTimeStampMap, const int depth=0)=0
virtual void	optimize (int maxIterations)=0
virtual const gtsam::Values &	getAllOptimizedStates ()=0
virtual gtsam::KeyVector	getAllOptimizedKeys ()=0
virtual const gtsam::NonlinearFactorGraph &	getNonlinearFactorGraph () const =0
virtual const std::map< gtsam::Key, double > &	getFullKeyTimestampMap ()=0
virtual gtsam::Pose3	calculateEstimatedPose3 (const gtsam::Key &key)=0
virtual gtsam::Vector3	calculateEstimatedVelocity3 (const gtsam::Key &key)=0
virtual gtsam::imuBias::ConstantBias	calculateEstimatedBias (const gtsam::Key &key)=0
virtual gtsam::Point3	calculateEstimatedPoint3 (const gtsam::Key &key)=0
virtual gtsam::Vector	calculateEstimatedVector (const gtsam::Key &key)=0
virtual gtsam::Matrix	calculateMarginalCovarianceMatrixAtKey (const gtsam::Key &key)=0
virtual void	addLatestImuBiasBelief (const gtsam::imuBias::ConstantBias &imuBias)
virtual void	addLatestPoseBelief (const gtsam::Pose3 &pose)

Protected Attributes
gtsam::LevenbergMarquardtParams	lmParams_
Protected Attributes inherited from holistic_fusion::OptimizerBase
std::shared_ptr< GraphConfig >	graphConfigPtr_
gtsam::imuBias::ConstantBias	latestImuBias_
gtsam::Pose3	latestPose_

Detailed Description

Definition at line 19 of file OptimizerLM.hpp.

Constructor & Destructor Documentation

OptimizerLM()

holistic_fusion::OptimizerLM::OptimizerLM ( const std::shared_ptr< GraphConfig > graphConfigPtr )

inlineexplicit

Definition at line 21 of file OptimizerLM.hpp.

~OptimizerLM()

holistic_fusion::OptimizerLM::~OptimizerLM ( )

default

Member Function Documentation

updateExistingValues()

bool holistic_fusion::OptimizerLM::updateExistingValues ( const gtsam::Values & newGraphValues )

inlineoverridevirtual

Implements holistic_fusion::OptimizerBase.

Reimplemented in holistic_fusion::OptimizerLMBatch.

Definition at line 36 of file OptimizerLM.hpp.

Member Data Documentation

lmParams_

gtsam::LevenbergMarquardtParams holistic_fusion::OptimizerLM::lmParams_

protected

Definition at line 43 of file OptimizerLM.hpp.

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

• holistic_fusion/include/holistic_fusion/core/optimizer/OptimizerLM.hpp