Implementation of the Levenberg Algorithm. More...

#include <optimization_algorithm_levenberg.h>

Inheritance diagram for g2o::OptimizationAlgorithmLevenberg:

Public Member Functions
double	currentLambda () const
	return the currently used damping factor More...

int	levenbergIteration ()
	return the number of levenberg iterations performed in the last round More...

int	maxTrialsAfterFailure () const
	get the number of inner iterations for Levenberg-Marquardt More...

	OptimizationAlgorithmLevenberg (Solver *solver)

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

void	setMaxTrialsAfterFailure (int max_trials)
	the number of internal iteration if an update step increases chi^2 within Levenberg-Marquardt More...

void	setUserLambdaInit (double lambda)
	specify the initial lambda used for the first iteraion, if not given the SparseOptimizer tries to compute a suitable value More...

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

double	userLambdaInit ()
	return the lambda set by the user, if < 0 the SparseOptimizer will compute the initial lambda More...

virtual	~OptimizationAlgorithmLevenberg ()

Public Member Functions inherited from g2o::OptimizationAlgorithmWithHessian
virtual bool	buildLinearStructure ()

virtual bool	computeMarginals (SparseBlockMatrix< MatrixXd > &spinv, const std::vector< std::pair< int, int > > &blockIndices)

virtual bool	init (bool online=false)

	OptimizationAlgorithmWithHessian (Solver *solver)

virtual void	setWriteDebug (bool writeDebug)

Solver *	solver ()
	return the underlying solver used to solve the linear system More...

virtual void	updateLinearSystem ()

virtual bool	updateStructure (const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)

virtual bool	writeDebug () const

virtual	~OptimizationAlgorithmWithHessian ()

Public Member Functions inherited from g2o::OptimizationAlgorithm
	OptimizationAlgorithm ()

const SparseOptimizer *	optimizer () const
	return the optimizer operating on More...

SparseOptimizer *	optimizer ()

void	printProperties (std::ostream &os) const

const PropertyMap &	properties () const
	return the properties of the solver More...

void	setOptimizer (SparseOptimizer *optimizer)

bool	updatePropertiesFromString (const std::string &propString)

virtual	~OptimizationAlgorithm ()

Protected Member Functions
double	computeLambdaInit () const

double	computeScale () const

Protected Attributes
double	_currentLambda

double	_goodStepLowerScale
	lower bound for lambda decrease if a good LM step More...

double	_goodStepUpperScale
	upper bound for lambda decrease if a good LM step More...

int	_levenbergIterations
	the numer of levenberg iterations performed to accept the last step More...

Property< int > *	_maxTrialsAfterFailure

int	_nBad

double	_ni

double	_tau

Property< double > *	_userLambdaInit

Protected Attributes inherited from g2o::OptimizationAlgorithmWithHessian
Solver *	_solver

Property< bool > *	_writeDebug

Protected Attributes inherited from g2o::OptimizationAlgorithm
SparseOptimizer *	_optimizer
	the optimizer the solver is working on More...

PropertyMap	_properties
	the properties of your solver, use this to store the parameters of your solver More...

Additional Inherited Members
Public Types inherited from g2o::OptimizationAlgorithm
enum	SolverResult { Terminate =2, OK =1, Fail =-1 }

Detailed Description

Implementation of the Levenberg Algorithm.

Definition at line 37 of file optimization_algorithm_levenberg.h.

Constructor & Destructor Documentation

g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg ( Solver * solver )

explicit

construct the Levenberg algorithm, which will use the given Solver for solving the linearized system.

Definition at line 43 of file optimization_algorithm_levenberg.cpp.

g2o::OptimizationAlgorithmLevenberg::~OptimizationAlgorithmLevenberg ( )

virtual

Definition at line 57 of file optimization_algorithm_levenberg.cpp.

Member Function Documentation

double g2o::OptimizationAlgorithmLevenberg::computeLambdaInit ( ) const

protected

helper for Levenberg, this function computes the initial damping factor, if the user did not specify an own value, see setUserLambdaInit()

Definition at line 166 of file optimization_algorithm_levenberg.cpp.

double g2o::OptimizationAlgorithmLevenberg::computeScale ( ) const

protected

Definition at line 182 of file optimization_algorithm_levenberg.cpp.

double g2o::OptimizationAlgorithmLevenberg::currentLambda ( ) const

inline

return the currently used damping factor

Definition at line 52 of file optimization_algorithm_levenberg.h.

int g2o::OptimizationAlgorithmLevenberg::levenbergIteration ( )

inline

return the number of levenberg iterations performed in the last round

Definition at line 66 of file optimization_algorithm_levenberg.h.

int g2o::OptimizationAlgorithmLevenberg::maxTrialsAfterFailure ( ) const

inline

get the number of inner iterations for Levenberg-Marquardt

Definition at line 58 of file optimization_algorithm_levenberg.h.

void g2o::OptimizationAlgorithmLevenberg::printVerbose ( std::ostream & os ) const

virtual

called by the optimizer if verbose. re-implement, if you want to print something

Reimplemented from g2o::OptimizationAlgorithm.

Definition at line 201 of file optimization_algorithm_levenberg.cpp.

void g2o::OptimizationAlgorithmLevenberg::setMaxTrialsAfterFailure ( int max_trials )

the number of internal iteration if an update step increases chi^2 within Levenberg-Marquardt

Definition at line 191 of file optimization_algorithm_levenberg.cpp.

void g2o::OptimizationAlgorithmLevenberg::setUserLambdaInit ( double lambda )

specify the initial lambda used for the first iteraion, if not given the SparseOptimizer tries to compute a suitable value

Definition at line 196 of file optimization_algorithm_levenberg.cpp.

OptimizationAlgorithm::SolverResult g2o::OptimizationAlgorithmLevenberg::solve	(	int	iteration,
		bool	online = `false`
	)

virtual

Solve one iteration. The SparseOptimizer running on-top will call this for the given number of iterations.

Parameters

iteration indicates the current iteration

Implements g2o::OptimizationAlgorithm.

Definition at line 61 of file optimization_algorithm_levenberg.cpp.

double g2o::OptimizationAlgorithmLevenberg::userLambdaInit ( )

inline

return the lambda set by the user, if < 0 the SparseOptimizer will compute the initial lambda

Definition at line 61 of file optimization_algorithm_levenberg.h.

Member Data Documentation

double g2o::OptimizationAlgorithmLevenberg::_currentLambda

protected

Definition at line 72 of file optimization_algorithm_levenberg.h.

double g2o::OptimizationAlgorithmLevenberg::_goodStepLowerScale

protected

lower bound for lambda decrease if a good LM step

Definition at line 74 of file optimization_algorithm_levenberg.h.

double g2o::OptimizationAlgorithmLevenberg::_goodStepUpperScale

protected

upper bound for lambda decrease if a good LM step

Definition at line 75 of file optimization_algorithm_levenberg.h.

int g2o::OptimizationAlgorithmLevenberg::_levenbergIterations

protected

the numer of levenberg iterations performed to accept the last step

Definition at line 77 of file optimization_algorithm_levenberg.h.

Property<int>* g2o::OptimizationAlgorithmLevenberg::_maxTrialsAfterFailure

protected

Definition at line 70 of file optimization_algorithm_levenberg.h.

int g2o::OptimizationAlgorithmLevenberg::_nBad

protected

Definition at line 79 of file optimization_algorithm_levenberg.h.

double g2o::OptimizationAlgorithmLevenberg::_ni

protected

Definition at line 76 of file optimization_algorithm_levenberg.h.

double g2o::OptimizationAlgorithmLevenberg::_tau

protected

Definition at line 73 of file optimization_algorithm_levenberg.h.

Property<double>* g2o::OptimizationAlgorithmLevenberg::_userLambdaInit

protected

Definition at line 71 of file optimization_algorithm_levenberg.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation