Point Cloud Library (PCL)  1.14.1-dev
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>`

Collaboration diagram for BFGS< FunctorType >:

## 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)

void resetParameters (void)

## Public Attributes

Parameters parameters

Scalar f

## 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: https://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 121 of file bfgs.h.

## ◆ FVectorType

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

Definition at line 124 of file bfgs.h.

## ◆ Index

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

Definition at line 128 of file bfgs.h.

## ◆ Scalar

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

Definition at line 123 of file bfgs.h.

## ◆ BFGS()

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

Definition at line 126 of file bfgs.h.

## ◆ minimize()

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

Definition at line 349 of file bfgs.h.

References BFGSSpace::Success.

## ◆ minimizeInit()

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

Definition at line 361 of file bfgs.h.

References BFGSSpace::NotStarted.

## ◆ minimizeOneStep()

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

Definition at line 393 of file bfgs.h.

References pcl::B, BFGSSpace::NoProgress, and BFGSSpace::Success.

## ◆ resetParameters()

template<typename FunctorType >
 void BFGS< FunctorType >::resetParameters ( void )
inline

Definition at line 164 of file bfgs.h.

References BFGS< FunctorType >::parameters.

template<typename FunctorType >

Definition at line 476 of file bfgs.h.

## ◆ f

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

Definition at line 170 of file bfgs.h.

template<typename FunctorType >