12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

add comments

release/4.3a0
Kai Ni 2010-01-20 06:34:25 +00:00
parent 19dc8bf4b1
commit ae908316e0
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
cpp/NonlinearOptimizer.h
View File

@ -25,6 +25,12 @@ namespace gtsam {
* the config type is in order to be able to optimize over non-vector configurations as well.
* To use in code, include <gtsam/NonlinearOptimizer-inl.h> in your cpp file
* (the trick in http://www.ddj.com/cpp/184403420 did not work).
*
* For example, in a 2D case, $G$ can be Pose2Graph, $T$ can be Pose2Config,
* $L$ can be GaussianFactorGraph and $S$ can be Factorization<Pose2Graph, Pose2Config>.
* The solver class has two main functions: linear and optimize. The first one linear the
* nonlinear cost function around the current estimate, and the second one optimize the
* linearized system using various methods.
*/
template<class G, class T, class L = GaussianFactorGraph, class S = Factorization<G, T> >
class NonlinearOptimizer {