Public Member Functions | Public Attributes | List of all members
gtsam::ISAM2DoglegParams Struct Reference

#include <ISAM2Params.h>

Public Member Functions

std::string adaptationModeTranslator (const DoglegOptimizerImpl::TrustRegionAdaptationMode &adaptationMode) const
 
DoglegOptimizerImpl::TrustRegionAdaptationMode adaptationModeTranslator (const std::string &adaptationMode) const
 
std::string getAdaptationMode () const
 
double getInitialDelta () const
 
double getWildfireThreshold () const
 
 ISAM2DoglegParams (double _initialDelta=1.0, double _wildfireThreshold=1e-5, DoglegOptimizerImpl::TrustRegionAdaptationMode _adaptationMode=DoglegOptimizerImpl::SEARCH_EACH_ITERATION, bool _verbose=false)
 
bool isVerbose () const
 
void print (const std::string str="") const
 
void setAdaptationMode (const std::string &adaptationMode)
 
void setInitialDelta (double initialDelta)
 
void setVerbose (bool verbose)
 
void setWildfireThreshold (double wildfireThreshold)
 

Public Attributes

DoglegOptimizerImpl::TrustRegionAdaptationMode adaptationMode
 
double initialDelta
 The initial trust region radius for Dogleg. More...
 
bool verbose
 Whether Dogleg prints iteration and convergence information. More...
 
double wildfireThreshold
 

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&).

Definition at line 68 of file ISAM2Params.h.

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
_initialDeltasee ISAM2DoglegParams::initialDelta
_wildfireThresholdsee ISAM2DoglegParams::wildfireThreshold
_adaptationModesee ISAM2DoglegParams::adaptationMode
_verbosesee ISAM2DoglegParams::verbose

Definition at line 80 of file ISAM2Params.h.

Member Function Documentation

◆ adaptationModeTranslator() [1/2]

string gtsam::ISAM2DoglegParams::adaptationModeTranslator ( const DoglegOptimizerImpl::TrustRegionAdaptationMode adaptationMode) const

Definition at line 25 of file ISAM2Params.cpp.

◆ adaptationModeTranslator() [2/2]

DoglegOptimizerImpl::TrustRegionAdaptationMode gtsam::ISAM2DoglegParams::adaptationModeTranslator ( const std::string &  adaptationMode) const

Definition at line 45 of file ISAM2Params.cpp.

◆ getAdaptationMode()

std::string gtsam::ISAM2DoglegParams::getAdaptationMode ( ) const
inline

Definition at line 107 of file ISAM2Params.h.

◆ getInitialDelta()

double gtsam::ISAM2DoglegParams::getInitialDelta ( ) const
inline

Definition at line 105 of file ISAM2Params.h.

◆ getWildfireThreshold()

double gtsam::ISAM2DoglegParams::getWildfireThreshold ( ) const
inline

Definition at line 106 of file ISAM2Params.h.

◆ isVerbose()

bool gtsam::ISAM2DoglegParams::isVerbose ( ) const
inline

Definition at line 110 of file ISAM2Params.h.

◆ print()

void gtsam::ISAM2DoglegParams::print ( const std::string  str = "") const
inline

Definition at line 94 of file ISAM2Params.h.

◆ setAdaptationMode()

void gtsam::ISAM2DoglegParams::setAdaptationMode ( const std::string &  adaptationMode)
inline

Definition at line 117 of file ISAM2Params.h.

◆ setInitialDelta()

void gtsam::ISAM2DoglegParams::setInitialDelta ( double  initialDelta)
inline

Definition at line 111 of file ISAM2Params.h.

◆ setVerbose()

void gtsam::ISAM2DoglegParams::setVerbose ( bool  verbose)
inline

Definition at line 120 of file ISAM2Params.h.

◆ setWildfireThreshold()

void gtsam::ISAM2DoglegParams::setWildfireThreshold ( double  wildfireThreshold)
inline

Definition at line 114 of file ISAM2Params.h.

Member Data Documentation

◆ adaptationMode

DoglegOptimizerImpl::TrustRegionAdaptationMode gtsam::ISAM2DoglegParams::adaptationMode

See description in DoglegOptimizerImpl::TrustRegionAdaptationMode

Definition at line 74 of file ISAM2Params.h.

◆ initialDelta

double gtsam::ISAM2DoglegParams::initialDelta

The initial trust region radius for Dogleg.

Definition at line 69 of file ISAM2Params.h.

◆ verbose

bool gtsam::ISAM2DoglegParams::verbose

Whether Dogleg prints iteration and convergence information.

Definition at line 77 of file ISAM2Params.h.

◆ wildfireThreshold

double gtsam::ISAM2DoglegParams::wildfireThreshold

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

Definition at line 71 of file ISAM2Params.h.


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


gtsam
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autogenerated on Fri Nov 1 2024 03:51:38