#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 |
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.
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Specify parameters as constructor arguments
_initialDelta | see ISAM2DoglegParams::initialDelta |
_wildfireThreshold | see ISAM2DoglegParams::wildfireThreshold |
_adaptationMode | see ISAM2DoglegParams::adaptationMode |
_verbose | see ISAM2DoglegParams::verbose |
Definition at line 80 of file ISAM2Params.h.
string gtsam::ISAM2DoglegParams::adaptationModeTranslator | ( | const DoglegOptimizerImpl::TrustRegionAdaptationMode & | adaptationMode | ) | const |
Definition at line 25 of file ISAM2Params.cpp.
DoglegOptimizerImpl::TrustRegionAdaptationMode gtsam::ISAM2DoglegParams::adaptationModeTranslator | ( | const std::string & | adaptationMode | ) | const |
Definition at line 45 of file ISAM2Params.cpp.
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Definition at line 107 of file ISAM2Params.h.
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Definition at line 105 of file ISAM2Params.h.
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Definition at line 106 of file ISAM2Params.h.
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Definition at line 110 of file ISAM2Params.h.
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Definition at line 94 of file ISAM2Params.h.
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Definition at line 117 of file ISAM2Params.h.
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Definition at line 111 of file ISAM2Params.h.
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Definition at line 120 of file ISAM2Params.h.
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Definition at line 114 of file ISAM2Params.h.
DoglegOptimizerImpl::TrustRegionAdaptationMode gtsam::ISAM2DoglegParams::adaptationMode |
See description in DoglegOptimizerImpl::TrustRegionAdaptationMode
Definition at line 74 of file ISAM2Params.h.
double gtsam::ISAM2DoglegParams::initialDelta |
The initial trust region radius for Dogleg.
Definition at line 69 of file ISAM2Params.h.
bool gtsam::ISAM2DoglegParams::verbose |
Whether Dogleg prints iteration and convergence information.
Definition at line 77 of file ISAM2Params.h.
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.