optimization_algorithm_levenberg.h

Go to the documentation of this file.

// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef G2O_SOLVER_LEVENBERG_H
#define G2O_SOLVER_LEVENBERG_H

#include "optimization_algorithm_with_hessian.h"

namespace g2o {

  class  OptimizationAlgorithmLevenberg : public OptimizationAlgorithmWithHessian
  {
    public:
      explicit OptimizationAlgorithmLevenberg(Solver* solver);
      virtual ~OptimizationAlgorithmLevenberg();

      virtual SolverResult solve(int iteration, bool online = false);

      virtual void printVerbose(std::ostream& os) const;

      double currentLambda() const { return _currentLambda;}

      void setMaxTrialsAfterFailure(int max_trials);

      int maxTrialsAfterFailure() const { return _maxTrialsAfterFailure->value();}

      double userLambdaInit() {return _userLambdaInit->value();}
      void setUserLambdaInit(double lambda);

      int levenbergIteration() { return _levenbergIterations;}

    protected:
      // Levenberg parameters
      Property<int>* _maxTrialsAfterFailure;
      Property<double>* _userLambdaInit;
      double _currentLambda;
      double _tau;
      double _goodStepLowerScale; 
      double _goodStepUpperScale; 
      double _ni;
      int _levenbergIterations;   
      //RAUL
      int _nBad;

      double computeLambdaInit() const;
      double computeScale() const;

  };

} // end namespace

#endif