#include <core/ceres_wrapper/solver_ceres.h>

Inheritance diagram for wolf::SolverCeres:

Public Member Functions
	SolverCeres (const ProblemPtr &_wolf_problem, const YAML::Node &_params)

	WOLF_SOLVER_CREATE (SolverCeres)

	~SolverCeres () override

ceres::Solver::Summary	getSummary () const

std::unique_ptr< ceres::Problem > &	getCeresProblem ()

bool	computeCovariancesDerived (CovarianceBlocksToBeComputed _blocks=CovarianceBlocksToBeComputed::ROBOT_LANDMARKS) override

bool	computeCovariancesDerived (const std::vector< StateBlockPtr > &st_list) override

bool	converged () const override

bool	failed () const override

bool	wasStopped () const override

unsigned int	iterations () const override

double	initialCost () const override

double	finalCost () const override

double	totalTime () const override

ceres::Solver::Options &	getSolverOptions ()

const Eigen::SparseMatrixd	computeHessian () const

virtual int	numStateBlocksEstimatedDerived () const override

virtual int	numFactorsDerived () const override

virtual int	sizeStateBlocksEstimatedDerived () const override

virtual int	sizeFactorsDerived () const override

Public Member Functions inherited from wolf::SolverManager
void	printProfiling (std::ostream &stream=std::cout) const

const ProfilingUnit &	getProfilingTotal () const

const ProfilingUnit &	getProfilingSolve () const

const ProfilingUnit &	getProfilingUpdate () const

const ProfilingUnit &	getProfilingState () const

const ProfilingUnit &	getProfilingCov () const

	SolverManager (const ProblemPtr &_problem)
	Constructor with default params_. More...

	SolverManager (const ProblemPtr &_problem, const YAML::Node &_params)
	Constructor with given params_. More...

virtual	~SolverManager ()

std::string	solve ()
	Solves with the verbosity defined in params_. More...

std::string	solve (const ReportVerbosity report_level)
	Solves with a given verbosity. More...

virtual bool	computeCovariances () final

virtual bool	computeCovariances (const CovarianceBlocksToBeComputed blocks) final

virtual bool	computeCovariances (const std::vector< StateBlockPtr > &st_list) final

virtual void	update ()
	Updates solver's problem according to the wolf_problem. More...

ProblemPtr	getProblem ()

YAML::Node	getParams () const

bool	getComputeCov () const

double	getPeriod () const

double	getCovPeriod () const

ReportVerbosity	getVerbosity () const

virtual bool	isStateBlockRegistered (const StateBlockPtr &state_ptr) const final

virtual bool	isStateBlockFloating (const StateBlockPtr &state_ptr) const final

virtual bool	isStateBlockFixed (const StateBlockPtr &st) const final

virtual bool	isFactorRegistered (const FactorBasePtr &fac_ptr) const final

virtual bool	hasThisLocalParametrization (const StateBlockPtr &st, const LocalParametrizationBasePtr &local_param) const final

virtual bool	hasLocalParametrization (const StateBlockPtr &st) const final

virtual int	numFactors () const final

virtual int	sizeFactors () const final

virtual int	numStateBlocks () const final

virtual int	sizeStateBlocks () const final

virtual int	numStateBlocksEstimated () const final

virtual int	sizeStateBlocksEstimated () const final

virtual int	numFactorsDerived () const =0

virtual int	sizeFactorsDerived () const =0

virtual int	numStateBlocksEstimatedDerived () const =0

virtual int	sizeStateBlocksEstimatedDerived () const =0

virtual bool	check (std::string prefix="") const final

virtual bool	converged () const =0

virtual bool	failed () const =0

virtual bool	wasStopped () const =0

virtual unsigned int	iterations () const =0

virtual double	initialCost () const =0

virtual double	finalCost () const =0

virtual double	totalTime () const =0

virtual void	run () final

virtual void	stop () final

Protected Member Functions
bool	checkDerived (std::string prefix="") const override

std::string	solveDerived (const ReportVerbosity report_level) override

void	addFactorDerived (const FactorBasePtr &fac_ptr) override

void	removeFactorDerived (const FactorBasePtr &fac_ptr) override

void	addStateBlockDerived (const StateBlockPtr &state_ptr) override

void	removeStateBlockDerived (const StateBlockPtr &state_ptr) override

void	updateStateBlockStatusDerived (const StateBlockPtr &state_ptr) override

void	updateStateBlockLocalParametrizationDerived (const StateBlockPtr &state_ptr) override

ceres::CostFunctionPtr	createCostFunction (const FactorBasePtr &_fac_ptr)

bool	isFactorRegisteredDerived (const FactorBasePtr &fac_ptr) const override

bool	isStateBlockRegisteredDerived (const StateBlockPtr &state_ptr) const override

bool	isStateBlockFixedDerived (const StateBlockPtr &st) const override

bool	hasThisLocalParametrizationDerived (const StateBlockPtr &st, const LocalParametrizationBasePtr &local_param) const override

bool	hasLocalParametrizationDerived (const StateBlockPtr &st) const override

void	printProfilingDerived (std::ostream &_stream) const override

Protected Member Functions inherited from wolf::SolverManager
virtual Eigen::VectorXd &	getAssociatedMemBlock (const StateBlockPtr &state_ptr)

const double *	getAssociatedMemBlockPtr (const StateBlockPtr &state_ptr) const

double *	getAssociatedMemBlockPtr (const StateBlockPtr &state_ptr)

virtual std::string	solveDerived (const ReportVerbosity report_level)=0

virtual bool	computeCovariancesDerived (const CovarianceBlocksToBeComputed blocks)=0

virtual bool	computeCovariancesDerived (const std::vector< StateBlockPtr > &st_list)=0

virtual void	addFactorDerived (const FactorBasePtr &fac_ptr)=0

virtual void	removeFactorDerived (const FactorBasePtr &fac_ptr)=0

virtual void	addStateBlockDerived (const StateBlockPtr &state_ptr)=0

virtual void	removeStateBlockDerived (const StateBlockPtr &state_ptr)=0

virtual void	updateStateBlockStatusDerived (const StateBlockPtr &state_ptr)=0

virtual void	updateStateBlockLocalParametrizationDerived (const StateBlockPtr &state_ptr)=0

virtual bool	isStateBlockRegisteredDerived (const StateBlockPtr &state_ptr) const =0

virtual bool	isFactorRegisteredDerived (const FactorBasePtr &fac_ptr) const =0

virtual bool	isStateBlockFixedDerived (const StateBlockPtr &st) const =0

virtual bool	hasLocalParametrizationDerived (const StateBlockPtr &st) const =0

virtual bool	hasThisLocalParametrizationDerived (const StateBlockPtr &st, const LocalParametrizationBasePtr &local_param) const =0

virtual void	printProfilingDerived (std::ostream &stream=std::cout) const =0

virtual bool	checkDerived (std::string prefix="") const =0

Protected Attributes
std::map< FactorBasePtr, ceres::ResidualBlockId >	fac_2_residual_idx_

std::map< FactorBasePtr, ceres::CostFunctionPtr >	fac_2_costfunction_

std::map< StateBlockPtr, ManifoldWrapperPtr >	state_blocks_manifold_

ceres::Solver::Summary	summary_

std::unique_ptr< ceres::Problem >	ceres_problem_

std::unique_ptr< ceres::Covariance >	covariance_

unsigned int	n_iter_acc_

unsigned int	n_iter_max_

unsigned int	n_convergence_

unsigned int	n_interrupted_

unsigned int	n_no_convergence_

ceres::Solver::Options	solver_options_

Protected Attributes inherited from wolf::SolverManager
ProblemPtr	wolf_problem_

ProfilingUnit	profiling_total_

ProfilingUnit	profiling_solve_

ProfilingUnit	profiling_update_

ProfilingUnit	profiling_state_

ProfilingUnit	profiling_cov_

YAML::Node	params_

std::map< StateBlockPtr, Eigen::VectorXd >	state_blocks_

std::map< StateBlockPtr, FactorBasePtrList >	state_blocks_2_factors_

std::set< FactorBasePtr >	factors_

std::set< StateBlockPtr >	floating_state_blocks_

double	period_

ReportVerbosity	verbose_

bool	compute_cov_

CovarianceBlocksToBeComputed	cov_enum_

double	cov_period_

std::chrono::high_resolution_clock::time_point	last_cov_time_

bool	stopping_

Additional Inherited Members
Public Types inherited from wolf::SolverManager
enum class	CovarianceBlocksToBeComputed : std::size_t { ALL = 0 , ALL_MARGINALS = 1 , ROBOT_LANDMARKS = 2 , GAUSS = 3 , GAUSS_TUCAN = 4 , GAUSS_TUCAN_ONLY_POSITION = 5 }
	Enumeration of covariance blocks to be computed. More...

enum class	ReportVerbosity : std::size_t { QUIET = 0 , BRIEF = 1 , FULL = 2 }
	Enumeration for the verbosity of the solver report. More...

Static Public Member Functions inherited from wolf::SolverManager
static SolverManagerPtr	autoSetup (const ProblemPtr &_problem, const std::string &_input_yaml_file, std::vector< std::string > _primary_schema_folders, bool _skip_yaml_validation=false)

static SolverManagerPtr	autoSetup (const ProblemPtr &_problem, YAML::Node _param_node, std::vector< std::string > _primary_schema_folders, bool _skip_yaml_validation=false)

Constructor & Destructor Documentation

◆ SolverCeres()

wolf::SolverCeres::SolverCeres	(	const ProblemPtr &	_wolf_problem,
		const YAML::Node &	_params
	)

◆ ~SolverCeres()

wolf::SolverCeres::~SolverCeres ( )

override

Member Function Documentation

◆ addFactorDerived()

void wolf::SolverCeres::addFactorDerived ( const FactorBasePtr & fac_ptr )

overrideprotectedvirtual

Implements wolf::SolverManager.

◆ addStateBlockDerived()

void wolf::SolverCeres::addStateBlockDerived ( const StateBlockPtr & state_ptr )

overrideprotectedvirtual

Implements wolf::SolverManager.

◆ checkDerived()

bool wolf::SolverCeres::checkDerived ( std::string prefix = "" ) const

overrideprotectedvirtual

Implements wolf::SolverManager.

◆ computeCovariancesDerived() [1/2]

bool wolf::SolverCeres::computeCovariancesDerived ( const std::vector< StateBlockPtr > & st_list )

overridevirtual

Implements wolf::SolverManager.

◆ computeCovariancesDerived() [2/2]

bool wolf::SolverCeres::computeCovariancesDerived ( CovarianceBlocksToBeComputed _blocks = CovarianceBlocksToBeComputed::ROBOT_LANDMARKS )

overridevirtual

Implements wolf::SolverManager.

◆ computeHessian()

const Eigen::SparseMatrixd wolf::SolverCeres::computeHessian ( ) const

◆ converged()

bool wolf::SolverCeres::converged ( ) const

overridevirtual

Implements wolf::SolverManager.

◆ createCostFunction()

ceres::CostFunctionPtr wolf::SolverCeres::createCostFunction ( const FactorBasePtr & _fac_ptr )

protected

◆ failed()

bool wolf::SolverCeres::failed ( ) const

overridevirtual

Implements wolf::SolverManager.

◆ finalCost()

double wolf::SolverCeres::finalCost ( ) const

overridevirtual

Implements wolf::SolverManager.

◆ getCeresProblem()

std::unique_ptr< ceres::Problem > & wolf::SolverCeres::getCeresProblem ( )

inline

◆ getSolverOptions()

ceres::Solver::Options & wolf::SolverCeres::getSolverOptions ( )

inline

◆ getSummary()

ceres::Solver::Summary wolf::SolverCeres::getSummary ( ) const

inline

◆ hasLocalParametrizationDerived()

bool wolf::SolverCeres::hasLocalParametrizationDerived ( const StateBlockPtr & st ) const

inlineoverrideprotectedvirtual

Implements wolf::SolverManager.

◆ hasThisLocalParametrizationDerived()

bool wolf::SolverCeres::hasThisLocalParametrizationDerived	(	const StateBlockPtr &	st,
		const LocalParametrizationBasePtr &	local_param
	)		const

overrideprotectedvirtual

Implements wolf::SolverManager.

◆ initialCost()

double wolf::SolverCeres::initialCost ( ) const

overridevirtual

Implements wolf::SolverManager.

◆ isFactorRegisteredDerived()

bool wolf::SolverCeres::isFactorRegisteredDerived ( const FactorBasePtr & fac_ptr ) const

inlineoverrideprotectedvirtual

Implements wolf::SolverManager.

◆ isStateBlockFixedDerived()

bool wolf::SolverCeres::isStateBlockFixedDerived ( const StateBlockPtr & st ) const

inlineoverrideprotectedvirtual

Implements wolf::SolverManager.

◆ isStateBlockRegisteredDerived()

bool wolf::SolverCeres::isStateBlockRegisteredDerived ( const StateBlockPtr & state_ptr ) const

inlineoverrideprotectedvirtual

Implements wolf::SolverManager.

◆ iterations()

unsigned int wolf::SolverCeres::iterations ( ) const

overridevirtual

Implements wolf::SolverManager.

◆ numFactorsDerived()

int wolf::SolverCeres::numFactorsDerived ( ) const

inlineoverridevirtual

Implements wolf::SolverManager.

◆ numStateBlocksEstimatedDerived()

int wolf::SolverCeres::numStateBlocksEstimatedDerived ( ) const

overridevirtual

Implements wolf::SolverManager.

◆ printProfilingDerived()

void wolf::SolverCeres::printProfilingDerived ( std::ostream & _stream ) const

overrideprotectedvirtual

Implements wolf::SolverManager.

◆ removeFactorDerived()

void wolf::SolverCeres::removeFactorDerived ( const FactorBasePtr & fac_ptr )

overrideprotectedvirtual

Implements wolf::SolverManager.

◆ removeStateBlockDerived()

void wolf::SolverCeres::removeStateBlockDerived ( const StateBlockPtr & state_ptr )

overrideprotectedvirtual

Implements wolf::SolverManager.

◆ sizeFactorsDerived()

int wolf::SolverCeres::sizeFactorsDerived ( ) const

inlineoverridevirtual

Implements wolf::SolverManager.

◆ sizeStateBlocksEstimatedDerived()

int wolf::SolverCeres::sizeStateBlocksEstimatedDerived ( ) const

overridevirtual

Implements wolf::SolverManager.

◆ solveDerived()

std::string wolf::SolverCeres::solveDerived ( const ReportVerbosity report_level )

overrideprotectedvirtual

Implements wolf::SolverManager.

◆ totalTime()

double wolf::SolverCeres::totalTime ( ) const

overridevirtual

Implements wolf::SolverManager.

◆ updateStateBlockLocalParametrizationDerived()

void wolf::SolverCeres::updateStateBlockLocalParametrizationDerived ( const StateBlockPtr & state_ptr )

overrideprotectedvirtual

Implements wolf::SolverManager.

◆ updateStateBlockStatusDerived()

void wolf::SolverCeres::updateStateBlockStatusDerived ( const StateBlockPtr & state_ptr )

overrideprotectedvirtual

Implements wolf::SolverManager.

◆ wasStopped()

bool wolf::SolverCeres::wasStopped ( ) const

overridevirtual

Implements wolf::SolverManager.

◆ WOLF_SOLVER_CREATE()

wolf::SolverCeres::WOLF_SOLVER_CREATE ( SolverCeres )

Member Data Documentation

◆ ceres_problem_

std::unique_ptr<ceres::Problem> wolf::SolverCeres::ceres_problem_

protected

◆ covariance_

std::unique_ptr<ceres::Covariance> wolf::SolverCeres::covariance_

protected

◆ fac_2_costfunction_

std::map<FactorBasePtr, ceres::CostFunctionPtr> wolf::SolverCeres::fac_2_costfunction_

protected

◆ fac_2_residual_idx_

std::map<FactorBasePtr, ceres::ResidualBlockId> wolf::SolverCeres::fac_2_residual_idx_

protected

◆ n_convergence_

unsigned int wolf::SolverCeres::n_convergence_

protected

◆ n_interrupted_

unsigned int wolf::SolverCeres::n_interrupted_

protected

◆ n_iter_acc_

unsigned int wolf::SolverCeres::n_iter_acc_

protected

◆ n_iter_max_

unsigned int wolf::SolverCeres::n_iter_max_

protected

◆ n_no_convergence_

unsigned int wolf::SolverCeres::n_no_convergence_

protected

◆ solver_options_

ceres::Solver::Options wolf::SolverCeres::solver_options_

protected

◆ state_blocks_manifold_

std::map<StateBlockPtr, ManifoldWrapperPtr> wolf::SolverCeres::state_blocks_manifold_

protected

◆ summary_

ceres::Solver::Summary wolf::SolverCeres::summary_

protected

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

include/core/ceres_wrapper/solver_ceres.h
src/ceres_wrapper/solver_ceres.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ SolverCeres()

◆ ~SolverCeres()

Member Function Documentation

◆ addFactorDerived()

◆ addStateBlockDerived()

◆ checkDerived()

◆ computeCovariancesDerived() [1/2]

◆ computeCovariancesDerived() [2/2]

◆ computeHessian()

◆ converged()

◆ createCostFunction()

◆ failed()

◆ finalCost()

◆ getCeresProblem()

◆ getSolverOptions()

◆ getSummary()

◆ hasLocalParametrizationDerived()

◆ hasThisLocalParametrizationDerived()

◆ initialCost()

◆ isFactorRegisteredDerived()

◆ isStateBlockFixedDerived()

◆ isStateBlockRegisteredDerived()

◆ iterations()

◆ numFactorsDerived()

◆ numStateBlocksEstimatedDerived()

◆ printProfilingDerived()

◆ removeFactorDerived()

◆ removeStateBlockDerived()

◆ sizeFactorsDerived()

◆ sizeStateBlocksEstimatedDerived()

◆ solveDerived()

◆ totalTime()

◆ updateStateBlockLocalParametrizationDerived()

◆ updateStateBlockStatusDerived()

◆ wasStopped()

◆ WOLF_SOLVER_CREATE()

Member Data Documentation

◆ ceres_problem_

◆ covariance_

◆ fac_2_costfunction_

◆ fac_2_residual_idx_

◆ n_convergence_

◆ n_interrupted_

◆ n_iter_acc_

◆ n_iter_max_

◆ n_no_convergence_

◆ solver_options_

◆ state_blocks_manifold_

◆ summary_