gtsam::DoglegParams Class Reference

#include <DoglegOptimizer.h>

Inheritance diagram for gtsam::DoglegParams:

Collaboration diagram for gtsam::DoglegParams:

Public Types
enum	VerbosityDL { SILENT, VERBOSE }
enum	Verbosity {   SILENT, TERMINATION, ERROR, VALUES,   DELTA, LINEAR }
enum	LinearSolverType {   MULTIFRONTAL_CHOLESKY, MULTIFRONTAL_QR, SEQUENTIAL_CHOLESKY, SEQUENTIAL_QR,   Iterative, CHOLMOD }
using	IterationHook = std::function< void(size_t, double, double)>

Public Member Functions
void	print (const std::string &str="") const override
double	getDeltaInitial () const
std::string	getVerbosityDL () const
void	setDeltaInitial (double deltaInitial)
void	setVerbosityDL (const std::string &verbosityDL)
size_t	getMaxIterations () const
double	getRelativeErrorTol () const
double	getAbsoluteErrorTol () const
double	getErrorTol () const
std::string	getVerbosity () const
void	setMaxIterations (int value)
void	setRelativeErrorTol (double value)
void	setAbsoluteErrorTol (double value)
void	setErrorTol (double value)
void	setVerbosity (const std::string &src)
bool	equals (const NonlinearOptimizerParams &other, double tol=1e-9) const
bool	isMultifrontal () const
bool	isSequential () const
bool	isCholmod () const
bool	isIterative () const
GaussianFactorGraph::Eliminate	getEliminationFunction () const
std::string	getLinearSolverType () const
void	setLinearSolverType (const std::string &solver)
void	setIterativeParams (const std::shared_ptr< IterativeOptimizationParameters > params)
void	setOrdering (const Ordering &ordering)
std::string	getOrderingType () const
void	setOrderingType (const std::string &ordering)

Static Public Member Functions
static Verbosity	verbosityTranslator (const std::string &s)
static std::string	verbosityTranslator (Verbosity value)

Public Attributes
double	deltaInitial
	The initial trust region radius (default: 10.0)
VerbosityDL	verbosityDL
	The verbosity level for Dogleg (default: SILENT), see also NonlinearOptimizerParams::verbosity.
size_t	maxIterations = 100
	The maximum iterations to stop iterating (default 100)
double	relativeErrorTol = 1e-5
	The maximum relative error decrease to stop iterating (default 1e-5)
double	absoluteErrorTol = 1e-5
	The maximum absolute error decrease to stop iterating (default 1e-5)
double	errorTol = 0.0
	The maximum total error to stop iterating (default 0.0)
Verbosity	verbosity = SILENT
	The printing verbosity during optimization (default SILENT)
Ordering::OrderingType	orderingType = Ordering::COLAMD
	The method of ordering use during variable elimination (default COLAMD)
IterationHook	iterationHook
LinearSolverType	linearSolverType = MULTIFRONTAL_CHOLESKY
	The type of linear solver to use in the nonlinear optimizer.
std::optional< Ordering >	ordering
	The optional variable elimination ordering, or empty to use COLAMD (default: empty)
IterativeOptimizationParameters::shared_ptr	iterativeParams
	The container for iterativeOptimization parameters. used in CG Solvers.

Detailed Description

Parameters for Levenberg-Marquardt optimization. Note that this parameters class inherits from NonlinearOptimizerParams, which specifies the parameters common to all nonlinear optimization algorithms. This class also contains all of those parameters.

Member Typedef Documentation

IterationHook

using gtsam::NonlinearOptimizerParams::IterationHook = std::function< void(size_t , double, double)>

inherited

Type for an optional user-provided hook to be called after each internal optimizer iteration. See iterationHook below.

Member Enumeration Documentation

LinearSolverType

enum gtsam::NonlinearOptimizerParams::LinearSolverType

inherited

See NonlinearOptimizerParams::linearSolverType

Verbosity

enum gtsam::NonlinearOptimizerParams::Verbosity

inherited

See NonlinearOptimizerParams::verbosity

VerbosityDL

enum gtsam::DoglegParams::VerbosityDL

See DoglegParams::dlVerbosity

Member Data Documentation

iterationHook

IterationHook gtsam::NonlinearOptimizerParams::iterationHook

inherited

Optional user-provided iteration hook to be called after each optimization iteration (Default: none). Note that IterationHook is defined as a std::function<> with this signature:

void(size_t iteration, double errorBefore, double errorAfter)

which allows binding by means of a reference to a regular function:

void foo(size_t iteration, double errorBefore, double errorAfter);
// ...
lmOpts.iterationHook = &foo;

or to a C++11 lambda (preferred if you need to capture additional context variables, such that the optimizer object itself, the factor graph, etc.):

lmOpts.iterationHook = [&](size_t iter, double oldError, double newError)
{
  // ...
};

or to the result of a properly-formed std::bind call.

---

The documentation for this class was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/nonlinear/DoglegOptimizer.h