ROS Index
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License, Version 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/nasa/astrobee.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Astrobee Flight Software
Authors
- Astrobee Flight Software
\page optimizer
Package Overview
The optimizer package provides a base class optimizer that is used by the graph optimizer class. Optimizers perform optimization using GTSAM factors and values, for more information on these see the GTSAM package here: https://github.com/borglab/gtsam. Optimizers also provided covariance matrices for values given their keys. Two implementations are provided - the nonlinear optimizer and isam2 optimizer.
Nonlinear Optimizer
The nonlinear optimizer performs Levenberg-Marquardt nonlinear optimization.
ISAM2 Optimizer
The ISAM2 optimizer performs optimization using ISAM2. Note this is still in development and not yet tested.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| localization_common | |
| catkin |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| graph_optimizer |
Launch files
Messages
Services
Plugins
Recent questions tagged optimizers at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache License, Version 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/nasa/astrobee.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-07-03 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Astrobee Flight Software
Authors
- Astrobee Flight Software
\page optimizer
Package Overview
The optimizer package provides a base class optimizer that is used by the graph optimizer class. Optimizers perform optimization using GTSAM factors and values, for more information on these see the GTSAM package here: https://github.com/borglab/gtsam. Optimizers also provided covariance matrices for values given their keys. Two implementations are provided - the nonlinear optimizer and isam2 optimizer.
Nonlinear Optimizer
The nonlinear optimizer performs Levenberg-Marquardt nonlinear optimization.
ISAM2 Optimizer
The ISAM2 optimizer performs optimization using ISAM2. Note this is still in development and not yet tested.
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| localization_common | |
| catkin |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| graph_optimizer |