DoglegOptimizer.h

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/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

#pragma once

#include <gtsam/nonlinear/NonlinearOptimizer.h>

namespace gtsam {

class DoglegOptimizer;

class GTSAM_EXPORT DoglegParams : public NonlinearOptimizerParams {
public:
  enum VerbosityDL {
    SILENT,
    VERBOSE
  };

  double deltaInitial; 
  VerbosityDL verbosityDL; 

  DoglegParams() :
    deltaInitial(1.0), verbosityDL(SILENT) {}

  ~DoglegParams() override {}

  void print(const std::string& str = "") const override {
    NonlinearOptimizerParams::print(str);
    std::cout << "               deltaInitial: " << deltaInitial << "\n";
    std::cout.flush();
  }

  double getDeltaInitial() const { return deltaInitial; }
  std::string getVerbosityDL() const { return verbosityDLTranslator(verbosityDL); }

  void setDeltaInitial(double deltaInitial) { this->deltaInitial = deltaInitial; }
  void setVerbosityDL(const std::string& verbosityDL) { this->verbosityDL = verbosityDLTranslator(verbosityDL); }

private:
  VerbosityDL verbosityDLTranslator(const std::string& verbosityDL) const;
  std::string verbosityDLTranslator(VerbosityDL verbosityDL) const;
};

class GTSAM_EXPORT DoglegOptimizer : public NonlinearOptimizer {

protected:
  DoglegParams params_;

public:
  typedef std::shared_ptr<DoglegOptimizer> shared_ptr;


  DoglegOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
      const DoglegParams& params = DoglegParams());

  DoglegOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
                  const Ordering& ordering);



  ~DoglegOptimizer() override {}

  GaussianFactorGraph::shared_ptr iterate() override;

  const DoglegParams& params() const { return params_; }

  double getDelta() const;


protected:
  const NonlinearOptimizerParams& _params() const override { return params_; }

  DoglegParams ensureHasOrdering(DoglegParams params, const NonlinearFactorGraph& graph) const;
};

}