#include <Properties.h>
Public Member Functions | |
| Properties () | |
Public Attributes | |
| double | epsilon1 |
| double | epsilon2 |
| double | epsilon3 |
| double | epsilon_abs |
| double | epsilon_rel |
| bool | force_numerical_jacobian |
| double | lm_lambda0 |
| double | lm_lambda_factor |
| int | max_iterations |
| Method | method |
| int | mod_batch |
| int | mod_solve |
| int | mod_update |
| bool | quiet |
| bool | verbose |
User changeable default parameters.
Definition at line 37 of file Properties.h.
| isam::Properties::Properties | ( | ) | [inline] |
Definition at line 86 of file Properties.h.
| double isam::Properties::epsilon1 |
Powell's Dog-Leg termination criteria: stop whenever the infinity-norm of the gradient direction vector falls below this threshold.
Definition at line 55 of file Properties.h.
| double isam::Properties::epsilon2 |
Powell's Dog-Leg termination criteria: stop whenever the 2-norm of the correction step falls below this threshold.
Definition at line 58 of file Properties.h.
| double isam::Properties::epsilon3 |
Powell's Dog-Leg termination criteria: stop whenever the infinity-norm of the error-residual vector falls below this threshold.
Definition at line 61 of file Properties.h.
Termination criterion: stop whenever the absolute sum-of-squares error falls below this threshold.
Definition at line 65 of file Properties.h.
Termination criterion: stop whenever the /difference/ in absolute sum-of-squares errors between two estimates falls below this fraction of the /total/ absolute sum-of-squares errors.
Definition at line 69 of file Properties.h.
Ignore any symbolic derivatives provided in factors
Definition at line 48 of file Properties.h.
| double isam::Properties::lm_lambda0 |
Starting value for lambda in LM
Definition at line 74 of file Properties.h.
Factor for multiplying (failure) or dividing (success) lambda
Definition at line 76 of file Properties.h.
Maximum number of iterations
Definition at line 72 of file Properties.h.
which optimization method to use
Definition at line 51 of file Properties.h.
Batch solve with variable reordering and relinearization every mod_batch steps
Definition at line 81 of file Properties.h.
For incremental steps, solve by backsubstitution every mod_solve steps
Definition at line 83 of file Properties.h.
Only update R matrix/solution/batch every mod_update steps
Definition at line 79 of file Properties.h.
omit all textual output if true
Definition at line 45 of file Properties.h.
print additional information if true
Definition at line 42 of file Properties.h.