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<p><a class="el" href="class_b_f_g_s.html" title="BFGS stands for Broyden–Fletcher–Goldfarb–Shanno (BFGS) method for solving unconstrained nonlinear op...">BFGS</a> stands for Broyden–Fletcher–Goldfarb–Shanno (<a class="el" href="class_b_f_g_s.html" title="BFGS stands for Broyden–Fletcher–Goldfarb–Shanno (BFGS) method for solving unconstrained nonlinear op...">BFGS</a>) method for solving unconstrained nonlinear optimization problems.
 <a href="class_b_f_g_s.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="bfgs_8h_source.html">pcl/registration/bfgs.h</a>&gt;</code></p>
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Public Types</h2></td></tr>
<tr class="memitem:a281047c6a2c08abfefd9a409bcc718a1"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> = typename FunctorType::Scalar</td></tr>
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<tr class="memitem:ae48965dff67f7b15085c396c001a9a78"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> = typename FunctorType::VectorType</td></tr>
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<tr class="memitem:a37203a93fbd940e7f80fbffd19a29d26"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26">Index</a> = Eigen::DenseIndex</td></tr>
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Public Member Functions</h2></td></tr>
<tr class="memitem:afee6f4eec88df11f96ee847aa77fe1e5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#afee6f4eec88df11f96ee847aa77fe1e5">BFGS</a> (FunctorType &amp;_functor)</td></tr>
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<tr class="memitem:a1117f2b973fe49b08922c947ccac4bcc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#a1117f2b973fe49b08922c947ccac4bcc">minimize</a> (<a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> &amp;x)</td></tr>
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<tr class="memitem:aafc04397b2b74cf1e2d1db48a8e44acd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#aafc04397b2b74cf1e2d1db48a8e44acd">testGradient</a> (<a class="el" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a>)</td></tr>
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<tr class="memitem:aec83c834090574b02259bea23478a306"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#aec83c834090574b02259bea23478a306">resetParameters</a> (void)</td></tr>
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Public Attributes</h2></td></tr>
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<tr class="memitem:abf43b9fa70284be62ca1e42b9d416d73"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#abf43b9fa70284be62ca1e42b9d416d73">gradient</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename FunctorType&gt;<br />
class BFGS&lt; FunctorType &gt;</h3>

<p><a class="el" href="class_b_f_g_s.html" title="BFGS stands for Broyden–Fletcher–Goldfarb–Shanno (BFGS) method for solving unconstrained nonlinear op...">BFGS</a> stands for Broyden–Fletcher–Goldfarb–Shanno (<a class="el" href="class_b_f_g_s.html" title="BFGS stands for Broyden–Fletcher–Goldfarb–Shanno (BFGS) method for solving unconstrained nonlinear op...">BFGS</a>) method for solving unconstrained nonlinear optimization problems. </p>
<p>For further details please visit: <a href="http://en.wikipedia.org/wiki/BFGS_method">http://en.wikipedia.org/wiki/BFGS_method</a> 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. </p>

<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00121">121</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>
</div><h2 class="groupheader">Member Typedef Documentation</h2>
<a id="ae48965dff67f7b15085c396c001a9a78"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae48965dff67f7b15085c396c001a9a78">&#9670;&nbsp;</a></span>FVectorType</h2>

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template&lt;typename FunctorType &gt; </div>
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          <td class="memname">using <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::<a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> =  typename FunctorType::VectorType</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00124">124</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a37203a93fbd940e7f80fbffd19a29d26">&#9670;&nbsp;</a></span>Index</h2>

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<div class="memtemplate">
template&lt;typename FunctorType &gt; </div>
      <table class="memname">
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          <td class="memname">using <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::<a class="el" href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26">Index</a> =  Eigen::DenseIndex</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00128">128</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a281047c6a2c08abfefd9a409bcc718a1">&#9670;&nbsp;</a></span>Scalar</h2>

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template&lt;typename FunctorType &gt; </div>
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          <td class="memname">using <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::<a class="el" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> =  typename FunctorType::Scalar</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00123">123</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="afee6f4eec88df11f96ee847aa77fe1e5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afee6f4eec88df11f96ee847aa77fe1e5">&#9670;&nbsp;</a></span>BFGS()</h2>

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template&lt;typename FunctorType &gt; </div>
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          <td>(</td>
          <td class="paramtype">FunctorType &amp;&#160;</td>
          <td class="paramname"><em>_functor</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00126">126</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a1117f2b973fe49b08922c947ccac4bcc">&#9670;&nbsp;</a></span>minimize()</h2>

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template&lt;typename FunctorType &gt; </div>
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          <td class="memname"><a class="el" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a> <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::minimize </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> &amp;&#160;</td>
          <td class="paramname"><em>x</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00351">351</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

<p class="reference">References <a class="el" href="bfgs_8h_source.html#l00074">BFGSSpace::Success</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7093fb69d7c7c7062112de99acb9cc36">&#9670;&nbsp;</a></span>minimizeInit()</h2>

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template&lt;typename FunctorType &gt; </div>
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          <td class="memname"><a class="el" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a> <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::minimizeInit </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> &amp;&#160;</td>
          <td class="paramname"><em>x</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00363">363</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

<p class="reference">References <a class="el" href="bfgs_8h_source.html#l00072">BFGSSpace::NotStarted</a>.</p>

<p class="reference">Referenced by <a class="el" href="gicp_8hpp_source.html#l00189">pcl::GeneralizedIterativeClosestPoint&lt; PointSource, PointTarget &gt;::estimateRigidTransformationBFGS()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa8ecd76033d7bb38d852cb514026d5bb">&#9670;&nbsp;</a></span>minimizeOneStep()</h2>

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template&lt;typename FunctorType &gt; </div>
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          <td class="memname"><a class="el" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a> <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::minimizeOneStep </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> &amp;&#160;</td>
          <td class="paramname"><em>x</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00395">395</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

<p class="reference">References <a class="el" href="norms_8h_source.html#l00054">pcl::B</a>, <a class="el" href="bfgs_8h_source.html#l00075">BFGSSpace::NoProgress</a>, and <a class="el" href="bfgs_8h_source.html#l00074">BFGSSpace::Success</a>.</p>

<p class="reference">Referenced by <a class="el" href="gicp_8hpp_source.html#l00189">pcl::GeneralizedIterativeClosestPoint&lt; PointSource, PointTarget &gt;::estimateRigidTransformationBFGS()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aec83c834090574b02259bea23478a306">&#9670;&nbsp;</a></span>resetParameters()</h2>

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          <td class="memname">void <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::resetParameters </td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00166">166</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

<p class="reference">References <a class="el" href="bfgs_8h_source.html#l00171">BFGS&lt; FunctorType &gt;::parameters</a>.</p>

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<a id="a1bb8c4a2c5afff64cd7a6d49abc7fb08"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1bb8c4a2c5afff64cd7a6d49abc7fb08">&#9670;&nbsp;</a></span>testGradient() <span class="overload">[1/2]</span></h2>

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template&lt;typename FunctorType &gt; </div>
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          <td class="memname"><a class="el" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a> <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::testGradient</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00478">478</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

<p class="reference">Referenced by <a class="el" href="gicp_8hpp_source.html#l00189">pcl::GeneralizedIterativeClosestPoint&lt; PointSource, PointTarget &gt;::estimateRigidTransformationBFGS()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aafc04397b2b74cf1e2d1db48a8e44acd">&#9670;&nbsp;</a></span>testGradient() <span class="overload">[2/2]</span></h2>

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template&lt;typename FunctorType &gt; </div>
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          <td>(</td>
          <td class="paramtype"><a class="el" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a>&#160;</td>
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<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000006">Deprecated:</a></b></dt><dd>Scheduled for removal in version 1 . 13 : "Use `testGradient()` instead" <br  />
 </dd></dl>

<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00164">164</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

<p class="reference">References <a class="el" href="bfgs_8h_source.html#l00164">BFGS&lt; FunctorType &gt;::testGradient()</a>.</p>

<p class="reference">Referenced by <a class="el" href="bfgs_8h_source.html#l00164">BFGS&lt; FunctorType &gt;::testGradient()</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
<a id="a0abf555d33ec7b4f004b6359dfdfc87c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0abf555d33ec7b4f004b6359dfdfc87c">&#9670;&nbsp;</a></span>f</h2>

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template&lt;typename FunctorType &gt; </div>
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          <td class="memname"><a class="el" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::f</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00172">172</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#abf43b9fa70284be62ca1e42b9d416d73">&#9670;&nbsp;</a></span>gradient</h2>

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template&lt;typename FunctorType &gt; </div>
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          <td class="memname"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::gradient</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00173">173</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

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<a id="ae019c9680d55d111c2f220c0e85b074d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae019c9680d55d111c2f220c0e85b074d">&#9670;&nbsp;</a></span>parameters</h2>

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template&lt;typename FunctorType &gt; </div>
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          <td class="memname"><a class="el" href="struct_b_f_g_s_1_1_parameters.html">Parameters</a> <a class="el" href="class_b_f_g_s.html">BFGS</a>&lt; FunctorType &gt;::parameters</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00171">171</a> of file <a class="el" href="bfgs_8h_source.html">bfgs.h</a>.</p>

<p class="reference">Referenced by <a class="el" href="gicp_8hpp_source.html#l00189">pcl::GeneralizedIterativeClosestPoint&lt; PointSource, PointTarget &gt;::estimateRigidTransformationBFGS()</a>, and <a class="el" href="bfgs_8h_source.html#l00166">BFGS&lt; FunctorType &gt;::resetParameters()</a>.</p>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>pcl/registration/<a class="el" href="bfgs_8h_source.html">bfgs.h</a></li>
</ul>
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