gtsam::internal::LevenbergMarquardtState Struct Reference

#include <LevenbergMarquardtState.h>

Inheritance diagram for gtsam::internal::LevenbergMarquardtState:

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< This >	decreaseLambda (const LevenbergMarquardtParams &params, double stepQuality, Values &&newValues, double newError) const
CachedModel *	getCachedModel (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< CachedModel >	noiseModelCache
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

typedef LevenbergMarquardtState gtsam::internal::LevenbergMarquardtState::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.

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

• LevenbergMarquardtState.h