53 lines
1.3 KiB
C++
53 lines
1.3 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/*
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* NonlinearOptimization.h
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*
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* Created on: Oct 14, 2010
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* Author: Kai Ni
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* Description: Easy interfaces for NonlinearOptimizer
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*/
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#pragma once
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#include <gtsam/nonlinear/NonlinearOptimizationParameters.h>
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namespace gtsam {
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/**
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* all the nonlinear optimization methods
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*/
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enum NonlinearOptimizationMethod {
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LM, // Levenberg Marquardt
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GN // Gaussian-Newton
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};
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/**
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* all the linear solver types
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*/
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enum LinearSolver{
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SEQUENTIAL, // Sequential elimination
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MULTIFRONTAL, // Multi-frontal elimination
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SPCG, // Subgraph Preconditioned Conjugate Gradient
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};
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/**
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* optimization that returns the values
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*/
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template<class G, class T>
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T optimize(const G& graph, const T& initialEstimate, const NonlinearOptimizationParameters& parameters = NonlinearOptimizationParameters(),
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const enum LinearSolver& solver = SEQUENTIAL);
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}
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