#include <ISAM2Params.h>

Public Member Functions
	ISAM2DoglegParams (double _initialDelta=1.0, double _wildfireThreshold=1e-5, DoglegOptimizerImpl::TrustRegionAdaptationMode _adaptationMode=DoglegOptimizerImpl::SEARCH_EACH_ITERATION, bool _verbose=false)

void	print (const std::string str="") const

double	getInitialDelta () const

double	getWildfireThreshold () const

std::string	getAdaptationMode () const

bool	isVerbose () const

void	setInitialDelta (double initialDelta)

void	setWildfireThreshold (double wildfireThreshold)

void	setAdaptationMode (const std::string &adaptationMode)

void	setVerbose (bool verbose)

std::string	adaptationModeTranslator (const DoglegOptimizerImpl::TrustRegionAdaptationMode &adaptationMode) const

DoglegOptimizerImpl::TrustRegionAdaptationMode	adaptationModeTranslator (const std::string &adaptationMode) const

Public Attributes
double	initialDelta
	The initial trust region radius for Dogleg.

double	wildfireThreshold

DoglegOptimizerImpl::TrustRegionAdaptationMode	adaptationMode

bool	verbose
	Whether Dogleg prints iteration and convergence information.

Detailed Description

Parameters for ISAM2 using Dogleg optimization. Either this class or ISAM2GaussNewtonParams should be specified as the optimizationParams in ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&).

Constructor & Destructor Documentation

◆ ISAM2DoglegParams()

gtsam::ISAM2DoglegParams::ISAM2DoglegParams	(	double	_initialDelta = `1.0`,
		double	_wildfireThreshold = `1e-5`,
		DoglegOptimizerImpl::TrustRegionAdaptationMode	_adaptationMode = `DoglegOptimizerImpl:: SEARCH_EACH_ITERATION`,
		bool	_verbose = `false`
	)

inline

Specify parameters as constructor arguments

Parameters

_initialDelta	see ISAM2DoglegParams::initialDelta
_wildfireThreshold	see ISAM2DoglegParams::wildfireThreshold
_adaptationMode	see ISAM2DoglegParams::adaptationMode
_verbose	see ISAM2DoglegParams::verbose

Member Data Documentation

◆ adaptationMode

DoglegOptimizerImpl::TrustRegionAdaptationMode gtsam::ISAM2DoglegParams::adaptationMode

See description in DoglegOptimizerImpl::TrustRegionAdaptationMode

◆ wildfireThreshold

double gtsam::ISAM2DoglegParams::wildfireThreshold

Continue updating the linear delta only when changes are above this threshold (default: 1e-5)

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

/home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam/nonlinear/ISAM2Params.h