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Slightly more convenient NonlinearOptimizer constructors

release/4.3a0
Richard Roberts 2012-03-01 16:07:19 +00:00
parent de2b9d6b31
commit ff7a78b854
2 changed files with 41 additions and 1 deletions
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21
gtsam/nonlinear/GaussNewtonOptimizer.h
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@ -90,7 +90,7 @@ public:
* @param params The optimization parameters * @param params The optimization parameters
*/ */
GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& values, GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& values,
const GaussNewtonParams& params = GaussNewtonParams(), const GaussNewtonParams& params,
const Ordering& ordering = Ordering()) : const Ordering& ordering = Ordering()) :
NonlinearOptimizer( NonlinearOptimizer(
SharedGraph(new NonlinearFactorGraph(graph)), SharedGraph(new NonlinearFactorGraph(graph)),
@ -101,6 +101,25 @@ public:
ordering_(colamdOrdering_ ? ordering_(colamdOrdering_ ?
graph_->orderingCOLAMD(*values_) : Ordering::shared_ptr(new Ordering(ordering))) {} graph_->orderingCOLAMD(*values_) : Ordering::shared_ptr(new Ordering(ordering))) {}
/** Standard constructor, requires a nonlinear factor graph, initial
* variable assignments, and optimization parameters. For convenience this
* version takes plain objects instead of shared pointers, but internally
* copies the objects.
* @param graph The nonlinear factor graph to optimize
* @param values The initial variable assignments
* @param params The optimization parameters
*/
GaussNewtonOptimizer(const NonlinearFactorGraph& graph, const Values& values,
const Ordering& ordering = Ordering()) :
NonlinearOptimizer(
SharedGraph(new NonlinearFactorGraph(graph)),
SharedValues(new Values(values)),
SharedGNParams(new GaussNewtonParams())),
gnParams_(boost::static_pointer_cast<const GaussNewtonParams>(params_)),
colamdOrdering_(ordering.size() == 0),
ordering_(colamdOrdering_ ?
graph_->orderingCOLAMD(*values_) : Ordering::shared_ptr(new Ordering(ordering))) {}
/** Standard constructor, requires a nonlinear factor graph, initial /** Standard constructor, requires a nonlinear factor graph, initial
* variable assignments, and optimization parameters. * variable assignments, and optimization parameters.
* @param graph The nonlinear factor graph to optimize * @param graph The nonlinear factor graph to optimize

21
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
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@ -124,6 +124,27 @@ public:
dimensions_(new vector<size_t>(values_->dims(*ordering_))), dimensions_(new vector<size_t>(values_->dims(*ordering_))),
lambda_(lmParams_->lambdaInitial) {} lambda_(lmParams_->lambdaInitial) {}
/** Standard constructor, requires a nonlinear factor graph, initial
* variable assignments, and optimization parameters. For convenience this
* version takes plain objects instead of shared pointers, but internally
* copies the objects.
* @param graph The nonlinear factor graph to optimize
* @param values The initial variable assignments
* @param params The optimization parameters
*/
LevenbergMarquardtOptimizer(const NonlinearFactorGraph& graph, const Values& values,
const Ordering& ordering) :
NonlinearOptimizer(
SharedGraph(new NonlinearFactorGraph(graph)),
SharedValues(new Values(values)),
SharedLMParams(new LevenbergMarquardtParams())),
lmParams_(boost::static_pointer_cast<const LevenbergMarquardtParams>(params_)),
colamdOrdering_(ordering.size() == 0),
ordering_(colamdOrdering_ ?
graph_->orderingCOLAMD(*values_) : Ordering::shared_ptr(new Ordering(ordering))),
dimensions_(new vector<size_t>(values_->dims(*ordering_))),
lambda_(lmParams_->lambdaInitial) {}
/** Standard constructor, requires a nonlinear factor graph, initial /** Standard constructor, requires a nonlinear factor graph, initial
* variable assignments, and optimization parameters. * variable assignments, and optimization parameters.
* @param graph The nonlinear factor graph to optimize * @param graph The nonlinear factor graph to optimize