autoware::common::optimization::NewtonsMethodOptimizer< LineSearchT > Class Template Reference
Optimizer using the Newton method with line search. More...
#include <newtons_method_optimizer.hpp>
Inheritance diagram for autoware::common::optimization::NewtonsMethodOptimizer< LineSearchT >:
Collaboration diagram for autoware::common::optimization::NewtonsMethodOptimizer< LineSearchT >:
Public Types | |
| using | StepT = float_t |
Public Member Functions | |
| NewtonsMethodOptimizer (const LineSearchT &line_searcher, const OptimizationOptions &options) | |
| template<typename OptimizationProblemT , typename DomainValueT , typename EigenSolverT > | |
| OptimizationSummary | solve_ (OptimizationProblemT &optimization_problem, const DomainValueT &x0, DomainValueT &x_out) |
 Public Member Functions inherited from autoware::common::optimization::Optimizer< NewtonsMethodOptimizer< LineSearchT > > | |
| OptimizationSummary | solve (OptimizationProblemT &optimization_problem, const DomainValueT &x0, DomainValueT &x_out) |
Additional Inherited Members | |
| Protected Member Functions inherited from autoware::common::helper_functions::crtp< NewtonsMethodOptimizer< LineSearchT > > | |
| const NewtonsMethodOptimizer< LineSearchT > & | impl () const |
| NewtonsMethodOptimizer< LineSearchT > & | impl () |
Detailed Description
template<typename LineSearchT>
class autoware::common::optimization::NewtonsMethodOptimizer< LineSearchT >
Optimizer using the Newton method with line search.
Member Typedef Documentation
◆ StepT
template<typename LineSearchT >
| using autoware::common::optimization::NewtonsMethodOptimizer< LineSearchT >::StepT = float_t |
Constructor & Destructor Documentation
◆ NewtonsMethodOptimizer()
template<typename LineSearchT >
|
inlineexplicit |
Constructor to initialize the line search method
- Parameters
-
[in] line_searcher An instance of a line search class. [in] options Options to be used for this optimization.
Member Function Documentation
◆ solve_()
template<typename LineSearchT >
template<typename OptimizationProblemT , typename DomainValueT , typename EigenSolverT >
|
inline |
Solves x_out for an objective optimization_problem and an initial value x0
- Parameters
-
optimization_problem optimization_problem optimization objective x0 initial value x_out optimized value
- Template Parameters
-
OptimizationProblemT Optimization problem type. Must be an implementation of common::optimization::OptimizationProblem.DomainValueT Type of the parameter EigenSolverT Type of eigen solver to be used internallt for solving the necessary linear equations. By default set to Eigen::LDLT.
- Returns
- Summary of this optimization.
The documentation for this class was generated from the following file: