Point Cloud Library (PCL)  1.9.1-dev
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BFGS< FunctorType > Class Template Reference

BFGS stands for Broyden–Fletcher–Goldfarb–Shanno (BFGS) method for solving unconstrained nonlinear optimization problems. More...

#include <pcl/registration/bfgs.h>

Classes

struct  Parameters
 

Public Types

using Scalar = typename FunctorType::Scalar
 
using FVectorType = typename FunctorType::VectorType
 
using Index = Eigen::DenseIndex
 

Public Member Functions

 BFGS (FunctorType &_functor)
 
BFGSSpace::Status minimize (FVectorType &x)
 
BFGSSpace::Status minimizeInit (FVectorType &x)
 
BFGSSpace::Status minimizeOneStep (FVectorType &x)
 
BFGSSpace::Status testGradient (Scalar epsilon)
 
void resetParameters (void)
 

Public Attributes

Parameters parameters
 
Scalar f
 
FVectorType gradient
 

Detailed Description

template<typename FunctorType>
class BFGS< FunctorType >

BFGS stands for Broyden–Fletcher–Goldfarb–Shanno (BFGS) method for solving unconstrained nonlinear optimization problems.

For further details please visit: http://en.wikipedia.org/wiki/BFGS_method The method provided here is almost similar to the one provided by GSL. It reproduces Fletcher's original algorithm in Practical Methods of Optimization algorithms : 2.6.2 and 2.6.4 and uses the same politics in GSL with cubic interpolation whenever it is possible else falls to quadratic interpolation for alpha parameter.

Definition at line 113 of file bfgs.h.

Member Typedef Documentation

template<typename FunctorType>
using BFGS< FunctorType >::FVectorType = typename FunctorType::VectorType

Definition at line 117 of file bfgs.h.

template<typename FunctorType>
using BFGS< FunctorType >::Index = Eigen::DenseIndex

Definition at line 122 of file bfgs.h.

template<typename FunctorType>
using BFGS< FunctorType >::Scalar = typename FunctorType::Scalar

Definition at line 116 of file bfgs.h.

Constructor & Destructor Documentation

template<typename FunctorType>
BFGS< FunctorType >::BFGS ( FunctorType &  _functor)
inline

Definition at line 119 of file bfgs.h.

Member Function Documentation

template<typename FunctorType >
BFGSSpace::Status BFGS< FunctorType >::minimize ( FVectorType x)

Definition at line 293 of file bfgs.h.

References BFGSSpace::Success.

template<typename FunctorType >
BFGSSpace::Status BFGS< FunctorType >::minimizeInit ( FVectorType x)
template<typename FunctorType >
BFGSSpace::Status BFGS< FunctorType >::minimizeOneStep ( FVectorType x)
template<typename FunctorType>
void BFGS< FunctorType >::resetParameters ( void  )
inline

Definition at line 152 of file bfgs.h.

template<typename FunctorType >
BFGSSpace::Status BFGS< FunctorType >::testGradient ( Scalar  epsilon)

Member Data Documentation

template<typename FunctorType>
Scalar BFGS< FunctorType >::f

Definition at line 155 of file bfgs.h.

template<typename FunctorType>
FVectorType BFGS< FunctorType >::gradient

Definition at line 156 of file bfgs.h.

template<typename FunctorType>
Parameters BFGS< FunctorType >::parameters

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