Class EigenNonlinearSolver

• Defined in File EigenNonlinearSolver.h

Inheritance Relationships

Base Type

• public Karana::Dynamics::NonlinearSolver (Class NonlinearSolver)

Class Documentation

class EigenNonlinearSolver : public Karana::Dynamics::NonlinearSolver

EigenNonlinearSolver class manages a nonlinear problem and associated solver.

Public Types

enum SolverType

Solver types used by the Nonlinear solver.

Values:

enumerator LEVENBERG_MARQUARDT

enumerator HYBRID_NON_LINEAR_SOLVER

Public Functions

EigenNonlinearSolver(std::string_view name, int input_dim, int value_dim, cost_fn f, jac_fn j = nullptr, SolverType type = SolverType::LEVENBERG_MARQUARDT)

Constructor for nonlinear solver using numerical methods shipped with Eigen.

Parameters:

• name – The name of the nonlinear solver.

• input_dim – The number of inputs.

• value_dim – The number of values (outputs).

• f – The cost function. This should take in a vector of inputs and output a vector of outputs.

• j – The jacobian function. This is optional, if not specified, the jacobian will be computed by forward numerical differentiation.

• type – The type of nonlinear solver to use.

SolverType getSolverType()

Get the non-linear solver type.

Returns:

The current non-linear solver type.

void setSolverType(const SolverType &solver_type)

Set the solver type.

Parameters:

solver_type – The solver.

Public Members

std::variant<Eigen::LevenbergMarquardtSpace::Status, Eigen::HybridNonLinearSolverSpace::Status> status

The status of the nonlinear solver.

Public Static Functions

static kc::ks_ptr<EigenNonlinearSolver> create(std::string_view name, int input_dim, int value_dim, cost_fn f, jac_fn j = nullptr, SolverType type = SolverType::LEVENBERG_MARQUARDT)

Constructor for nonlinear solver using numerical methods shipped with Eigen.

Parameters:

• name – The name of the Nonlinear solver.

• input_dim – The number of inputs.

• value_dim – The number of values (outputs).

• f – The cost function. This should take in a vector of inputs and output a vector of outputs.

• j – The jacobian function. This is optional, if not specified, the jacobian will be computed by forward numerical differentiation.

• type – The type of nonlinear solver to use.

Returns:

A ks_ptr to a new Nonlinear solver instance.

Protected Functions

virtual void _makeHealthy() final override

Internal method to ensure the solver is ready.