Properties.h

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#pragma once

namespace isam {

enum Method {GAUSS_NEWTON, LEVENBERG_MARQUARDT, DOG_LEG};

class Properties {
  // default copy constructor and assignment operator in use
public:

  bool verbose;

  bool quiet;

  bool force_numerical_jacobian;

  Method method;

  double epsilon1;
  double epsilon2;
  double epsilon3;

  double epsilon_abs;
  double epsilon_rel;

  int max_iterations;
  double lm_lambda0;
  double lm_lambda_factor;

  int mod_update;
  int mod_batch;
  int mod_solve;

  // default parameters
  Properties() :
    verbose(false),
    quiet(false),

    force_numerical_jacobian(false),

    method(GAUSS_NEWTON),

    epsilon1(1e-2),
    epsilon2(1e-2),
    epsilon3(1e-2),

    epsilon_abs(1e-3),
    epsilon_rel(1e-5),

    max_iterations(500),

    lm_lambda0(1e-6),
    lm_lambda_factor(10.),

    mod_update(1),
    mod_batch(100),
    mod_solve(1)
  {}
};

}