Inheritance diagram for gtsam::internal::LevenbergMarquardtState:

Collaboration diagram for gtsam::internal::LevenbergMarquardtState:

Public Types
typedef LevenbergMarquardtState	This

Public Member Functions
	LevenbergMarquardtState (const Values &initialValues, double _error, double _lambda, double currentFactor, unsigned int _iterations=0, unsigned int totalNumberInnerIterations=0)

	LevenbergMarquardtState (Values &&initialValues, double _error, double _lambda, double currentFactor, unsigned int _iterations=0, unsigned int totalNumberInnerIterations=0)

void	increaseLambda (const LevenbergMarquardtParams &params)

std::unique_ptr< This >	decreaseLambda (const LevenbergMarquardtParams &params, double stepQuality, Values &&newValues, double newError) const

CachedModel *	getCachedModel (size_t dim) const

GaussianFactorGraph	buildDampedSystem (GaussianFactorGraph damped) const
	Build a damped system for a specific lambda, vanilla version.

GaussianFactorGraph	buildDampedSystem (GaussianFactorGraph damped, const VectorValues &sqrtHessianDiagonal) const
	Build a damped system, use hessianDiagonal per variable (more expensive)

Public Attributes
double	lambda

double	currentFactor

int	totalNumberInnerIterations
	The total number of inner iterations in the.

std::vector< CachedModel >	noiseModelCache

const Values	values

const double	error

const size_t	iterations

Member Data Documentation

◆ error

const double gtsam::internal::NonlinearOptimizerState::error

inherited

The factor graph error on the current values.

const size_t gtsam::internal::NonlinearOptimizerState::iterations

inherited

The number of optimization iterations performed.

const Values gtsam::internal::NonlinearOptimizerState::values

inherited

The current estimate of the variable values.

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/internal/LevenbergMarquardtState.h