Classes | Public Types | Public Member Functions | Public Attributes | List of all members
gtsam::internal::LevenbergMarquardtState Struct Reference

#include <LevenbergMarquardtState.h>

Inheritance diagram for gtsam::internal::LevenbergMarquardtState:
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Classes

struct  CachedModel
 

Public Types

typedef LevenbergMarquardtState This
 

Public Member Functions

GaussianFactorGraph buildDampedSystem (GaussianFactorGraph damped) const
 Build a damped system for a specific lambda, vanilla version. More...
 
GaussianFactorGraph buildDampedSystem (GaussianFactorGraph damped, const VectorValues &sqrtHessianDiagonal) const
 Build a damped system, use hessianDiagonal per variable (more expensive) More...
 
std::unique_ptr< ThisdecreaseLambda (const LevenbergMarquardtParams &params, double stepQuality, Values &&newValues, double newError) const
 
CachedModelgetCachedModel (size_t dim) const
 
void increaseLambda (const LevenbergMarquardtParams &params)
 
 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)
 
- Public Member Functions inherited from gtsam::internal::NonlinearOptimizerState
 NonlinearOptimizerState (const Values &values, double error, size_t iterations=0)
 
 NonlinearOptimizerState (Values &&values, double error, size_t iterations=0)
 
virtual ~NonlinearOptimizerState ()
 

Public Attributes

double currentFactor
 
double lambda
 
std::vector< CachedModelnoiseModelCache
 
int totalNumberInnerIterations
 The total number of inner iterations in the. More...
 
- Public Attributes inherited from gtsam::internal::NonlinearOptimizerState
const double error
 
const size_t iterations
 
const Values values
 

Detailed Description

Definition at line 42 of file LevenbergMarquardtState.h.

Member Typedef Documentation

◆ This

Definition at line 43 of file LevenbergMarquardtState.h.

Constructor & Destructor Documentation

◆ LevenbergMarquardtState() [1/2]

gtsam::internal::LevenbergMarquardtState::LevenbergMarquardtState ( const Values initialValues,
double  _error,
double  _lambda,
double  currentFactor,
unsigned int  _iterations = 0,
unsigned int  totalNumberInnerIterations = 0 
)
inline

Definition at line 52 of file LevenbergMarquardtState.h.

◆ LevenbergMarquardtState() [2/2]

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

Definition at line 61 of file LevenbergMarquardtState.h.

Member Function Documentation

◆ buildDampedSystem() [1/2]

GaussianFactorGraph gtsam::internal::LevenbergMarquardtState::buildDampedSystem ( GaussianFactorGraph  damped) const
inline

Build a damped system for a specific lambda, vanilla version.

Definition at line 125 of file LevenbergMarquardtState.h.

◆ buildDampedSystem() [2/2]

GaussianFactorGraph gtsam::internal::LevenbergMarquardtState::buildDampedSystem ( GaussianFactorGraph  damped,
const VectorValues sqrtHessianDiagonal 
) const
inline

Build a damped system, use hessianDiagonal per variable (more expensive)

Definition at line 140 of file LevenbergMarquardtState.h.

◆ decreaseLambda()

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

Definition at line 81 of file LevenbergMarquardtState.h.

◆ getCachedModel()

CachedModel* gtsam::internal::LevenbergMarquardtState::getCachedModel ( size_t  dim) const
inline

Definition at line 115 of file LevenbergMarquardtState.h.

◆ increaseLambda()

void gtsam::internal::LevenbergMarquardtState::increaseLambda ( const LevenbergMarquardtParams params)
inline

Definition at line 70 of file LevenbergMarquardtState.h.

Member Data Documentation

◆ currentFactor

double gtsam::internal::LevenbergMarquardtState::currentFactor

Definition at line 47 of file LevenbergMarquardtState.h.

◆ lambda

double gtsam::internal::LevenbergMarquardtState::lambda

Definition at line 46 of file LevenbergMarquardtState.h.

◆ noiseModelCache

std::vector<CachedModel> gtsam::internal::LevenbergMarquardtState::noiseModelCache
mutable

Definition at line 114 of file LevenbergMarquardtState.h.

◆ totalNumberInnerIterations

int gtsam::internal::LevenbergMarquardtState::totalNumberInnerIterations

The total number of inner iterations in the.

Definition at line 48 of file LevenbergMarquardtState.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:15