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<title>Point Cloud Library (PCL): BFGS< FunctorType > Class Template Reference</title>
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<div class="title">BFGS< FunctorType > Class Template Reference</div> </div>
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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 <<a class="el" href="bfgs_8h_source.html">pcl/registration/bfgs.h</a>></code></p>
<div id="dynsection-0" onclick="return toggleVisibility(this)" class="dynheader closed" style="cursor:pointer;">
<img id="dynsection-0-trigger" src="closed.png" alt="+"/> Collaboration diagram for BFGS< FunctorType >:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="struct_b_f_g_s_1_1_parameters.html">Parameters</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a281047c6a2c08abfefd9a409bcc718a1"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> = typename FunctorType::Scalar</td></tr>
<tr class="separator:a281047c6a2c08abfefd9a409bcc718a1"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ae48965dff67f7b15085c396c001a9a78"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> = typename FunctorType::VectorType</td></tr>
<tr class="separator:ae48965dff67f7b15085c396c001a9a78"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a37203a93fbd940e7f80fbffd19a29d26"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#a37203a93fbd940e7f80fbffd19a29d26">Index</a> = Eigen::DenseIndex</td></tr>
<tr class="separator:a37203a93fbd940e7f80fbffd19a29d26"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:afee6f4eec88df11f96ee847aa77fe1e5"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#afee6f4eec88df11f96ee847aa77fe1e5">BFGS</a> (FunctorType &_functor)</td></tr>
<tr class="separator:afee6f4eec88df11f96ee847aa77fe1e5"><td class="memSeparator" colspan="2"> </td></tr>
<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> </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> &x)</td></tr>
<tr class="separator:a1117f2b973fe49b08922c947ccac4bcc"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a7093fb69d7c7c7062112de99acb9cc36"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#a7093fb69d7c7c7062112de99acb9cc36">minimizeInit</a> (<a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> &x)</td></tr>
<tr class="separator:a7093fb69d7c7c7062112de99acb9cc36"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa8ecd76033d7bb38d852cb514026d5bb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#aa8ecd76033d7bb38d852cb514026d5bb">minimizeOneStep</a> (<a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> &x)</td></tr>
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<tr class="memitem:a1bb8c4a2c5afff64cd7a6d49abc7fb08"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespace_b_f_g_s_space.html#a6da6dcc5e99db2044c2526fde6b6266c">BFGSSpace::Status</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#a1bb8c4a2c5afff64cd7a6d49abc7fb08">testGradient</a> ()</td></tr>
<tr class="separator:a1bb8c4a2c5afff64cd7a6d49abc7fb08"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aec83c834090574b02259bea23478a306"><td class="memItemLeft" align="right" valign="top">void </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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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:ae019c9680d55d111c2f220c0e85b074d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="struct_b_f_g_s_1_1_parameters.html">Parameters</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#ae019c9680d55d111c2f220c0e85b074d">parameters</a></td></tr>
<tr class="separator:ae019c9680d55d111c2f220c0e85b074d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0abf555d33ec7b4f004b6359dfdfc87c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_b_f_g_s.html#a281047c6a2c08abfefd9a409bcc718a1">Scalar</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#a0abf555d33ec7b4f004b6359dfdfc87c">f</a></td></tr>
<tr class="separator:a0abf555d33ec7b4f004b6359dfdfc87c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:abf43b9fa70284be62ca1e42b9d416d73"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_b_f_g_s.html#abf43b9fa70284be62ca1e42b9d416d73">gradient</a></td></tr>
<tr class="separator:abf43b9fa70284be62ca1e42b9d416d73"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template<typename FunctorType><br />
class BFGS< FunctorType ></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="https://en.wikipedia.org/wiki/BFGS_method">https://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">◆ </a></span>FVectorType</h2>
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template<typename FunctorType > </div>
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<td class="memname">using <a class="el" href="class_b_f_g_s.html">BFGS</a>< FunctorType >::<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>
</div>
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<a id="a37203a93fbd940e7f80fbffd19a29d26"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a37203a93fbd940e7f80fbffd19a29d26">◆ </a></span>Index</h2>
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<div class="memproto">
<div class="memtemplate">
template<typename FunctorType > </div>
<table class="memname">
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<td class="memname">using <a class="el" href="class_b_f_g_s.html">BFGS</a>< FunctorType >::<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">◆ </a></span>Scalar</h2>
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template<typename FunctorType > </div>
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<td class="memname">using <a class="el" href="class_b_f_g_s.html">BFGS</a>< FunctorType >::<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 & Destructor Documentation</h2>
<a id="afee6f4eec88df11f96ee847aa77fe1e5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afee6f4eec88df11f96ee847aa77fe1e5">◆ </a></span>BFGS()</h2>
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<div class="memtemplate">
template<typename FunctorType > </div>
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<td class="memname"><a class="el" href="class_b_f_g_s.html">BFGS</a>< FunctorType >::<a class="el" href="class_b_f_g_s.html">BFGS</a> </td>
<td>(</td>
<td class="paramtype">FunctorType & </td>
<td class="paramname"><em>_functor</em></td><td>)</td>
<td></td>
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</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span> </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>
<a id="a1117f2b973fe49b08922c947ccac4bcc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1117f2b973fe49b08922c947ccac4bcc">◆ </a></span>minimize()</h2>
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template<typename FunctorType > </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>< FunctorType >::minimize </td>
<td>(</td>
<td class="paramtype"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> & </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#l00349">349</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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<a id="a7093fb69d7c7c7062112de99acb9cc36"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7093fb69d7c7c7062112de99acb9cc36">◆ </a></span>minimizeInit()</h2>
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template<typename FunctorType > </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>< FunctorType >::minimizeInit </td>
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<td class="paramtype"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> & </td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00361">361</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#l00297">pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget, Scalar >::estimateRigidTransformationBFGS()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa8ecd76033d7bb38d852cb514026d5bb">◆ </a></span>minimizeOneStep()</h2>
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template<typename FunctorType > </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>< FunctorType >::minimizeOneStep </td>
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<td class="paramtype"><a class="el" href="class_b_f_g_s.html#ae48965dff67f7b15085c396c001a9a78">FVectorType</a> & </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#l00393">393</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#l00297">pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget, Scalar >::estimateRigidTransformationBFGS()</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aec83c834090574b02259bea23478a306">◆ </a></span>resetParameters()</h2>
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template<typename FunctorType > </div>
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<td class="memname">void <a class="el" href="class_b_f_g_s.html">BFGS</a>< FunctorType >::resetParameters </td>
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<td class="paramtype">void </td>
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<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#l00169">BFGS< FunctorType >::parameters</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a1bb8c4a2c5afff64cd7a6d49abc7fb08">◆ </a></span>testGradient()</h2>
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template<typename FunctorType > </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>< FunctorType >::testGradient</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00476">476</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#l00297">pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget, Scalar >::estimateRigidTransformationBFGS()</a>.</p>
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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a0abf555d33ec7b4f004b6359dfdfc87c">◆ </a></span>f</h2>
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template<typename FunctorType > </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>< FunctorType >::f</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00170">170</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">◆ </a></span>gradient</h2>
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template<typename FunctorType > </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>< FunctorType >::gradient</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>
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<h2 class="memtitle"><span class="permalink"><a href="#ae019c9680d55d111c2f220c0e85b074d">◆ </a></span>parameters</h2>
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template<typename FunctorType > </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>< FunctorType >::parameters</td>
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<p class="definition">Definition at line <a class="el" href="bfgs_8h_source.html#l00169">169</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#l00297">pcl::GeneralizedIterativeClosestPoint< PointSource, PointTarget, Scalar >::estimateRigidTransformationBFGS()</a>, and <a class="el" href="bfgs_8h_source.html#l00164">BFGS< FunctorType >::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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