#include <LevenbergMarquardtParams.h>

Inheritance diagram for gtsam::LevenbergMarquardtParams:

Public Types
using	OptimizerType = LevenbergMarquardtOptimizer

enum	VerbosityLM { SILENT = 0, SUMMARY, TERMINATION, LAMBDA, TRYLAMBDA, TRYCONFIG, DAMPED, TRYDELTA }

Public Types inherited from gtsam::NonlinearOptimizerParams
using	IterationHook = std::function< void(size_t, double, double)>

enum	LinearSolverType { MULTIFRONTAL_CHOLESKY, MULTIFRONTAL_QR, SEQUENTIAL_CHOLESKY, SEQUENTIAL_QR, Iterative, CHOLMOD }

enum	Verbosity { SILENT, TERMINATION, ERROR, VALUES, DELTA, LINEAR }

Public Member Functions
	LevenbergMarquardtParams ()

void	print (const std::string &str="") const override

	~LevenbergMarquardtParams () override

Getters/Setters, mainly for wrappers. Use fields above in C++.
bool	getDiagonalDamping () const

double	getlambdaFactor () const

double	getlambdaInitial () const

double	getlambdaLowerBound () const

double	getlambdaUpperBound () const

bool	getUseFixedLambdaFactor ()

std::string	getLogFile () const

std::string	getVerbosityLM () const

void	setDiagonalDamping (bool flag)

void	setlambdaFactor (double value)

void	setlambdaInitial (double value)

void	setlambdaLowerBound (double value)

void	setlambdaUpperBound (double value)

void	setUseFixedLambdaFactor (bool flag)

void	setLogFile (const std::string &s)

void	setVerbosityLM (const std::string &s)

Clone
boost::shared_ptr< NonlinearOptimizerParams >	clone () const

Public Member Functions inherited from gtsam::NonlinearOptimizerParams
bool	equals (const NonlinearOptimizerParams &other, double tol=1e-9) const

double	getAbsoluteErrorTol () const

GaussianFactorGraph::Eliminate	getEliminationFunction () const

double	getErrorTol () const

std::string	getLinearSolverType () const

size_t	getMaxIterations () const

std::string	getOrderingType () const

double	getRelativeErrorTol () const

std::string	getVerbosity () const

bool	isCholmod () const

bool	isIterative () const

bool	isMultifrontal () const

bool	isSequential () const

	NonlinearOptimizerParams ()=default

void	setAbsoluteErrorTol (double value)

void	setErrorTol (double value)

void	setIterativeParams (const boost::shared_ptr< IterativeOptimizationParameters > params)

void	setLinearSolverType (const std::string &solver)

void	setMaxIterations (int value)

void	setOrdering (const Ordering &ordering)

void	setOrderingType (const std::string &ordering)

void	setRelativeErrorTol (double value)

void	setVerbosity (const std::string &src)

virtual	~NonlinearOptimizerParams ()

Static Public Member Functions
static LevenbergMarquardtParams	CeresDefaults ()

static LevenbergMarquardtParams	EnsureHasOrdering (LevenbergMarquardtParams params, const NonlinearFactorGraph &graph)

static LevenbergMarquardtParams	LegacyDefaults ()

static LevenbergMarquardtParams	ReplaceOrdering (LevenbergMarquardtParams params, const Ordering &ordering)

static void	SetCeresDefaults (LevenbergMarquardtParams *p)

static void	SetLegacyDefaults (LevenbergMarquardtParams *p)

static VerbosityLM	verbosityLMTranslator (const std::string &s)

static std::string	verbosityLMTranslator (VerbosityLM value)

Static Public Member Functions inherited from gtsam::NonlinearOptimizerParams
static Verbosity	verbosityTranslator (const std::string &s)

static std::string	verbosityTranslator (Verbosity value)

Public Attributes
bool	diagonalDamping
	if true, use diagonal of Hessian More...

double	lambdaFactor
	The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0) More...

double	lambdaInitial
	The initial Levenberg-Marquardt damping term (default: 1e-5) More...

double	lambdaLowerBound
	The minimum lambda used in LM (default: 0) More...

double	lambdaUpperBound
	The maximum lambda to try before assuming the optimization has failed (default: 1e5) More...

std::string	logFile
	an optional CSV log file, with [iteration, time, error, lambda] More...

double	maxDiagonal
	when using diagonal damping saturates the maximum diagonal entries (default: 1e32) More...

double	minDiagonal
	when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) More...

double	minModelFidelity
	Lower bound for the modelFidelity to accept the result of an LM iteration. More...

bool	useFixedLambdaFactor
	if true applies constant increase (or decrease) to lambda according to lambdaFactor More...

VerbosityLM	verbosityLM
	The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity. More...

Public Attributes inherited from gtsam::NonlinearOptimizerParams
double	absoluteErrorTol = 1e-5
	The maximum absolute error decrease to stop iterating (default 1e-5) More...

double	errorTol = 0.0
	The maximum total error to stop iterating (default 0.0) More...

IterationHook	iterationHook

IterativeOptimizationParameters::shared_ptr	iterativeParams
	The container for iterativeOptimization parameters. used in CG Solvers. More...

LinearSolverType	linearSolverType = MULTIFRONTAL_CHOLESKY
	The type of linear solver to use in the nonlinear optimizer. More...

size_t	maxIterations = 100
	The maximum iterations to stop iterating (default 100) More...

boost::optional< Ordering >	ordering
	The optional variable elimination ordering, or empty to use COLAMD (default: empty) More...

Ordering::OrderingType	orderingType = Ordering::COLAMD
	The method of ordering use during variable elimination (default COLAMD) More...

double	relativeErrorTol = 1e-5
	The maximum relative error decrease to stop iterating (default 1e-5) More...

Verbosity	verbosity = SILENT
	The printing verbosity during optimization (default SILENT) More...

Detailed Description

Parameters for Levenberg-Marquardt optimization. Note that this parameters class inherits from NonlinearOptimizerParams, which specifies the parameters common to all nonlinear optimization algorithms. This class also contains all of those parameters.

Definition at line 35 of file LevenbergMarquardtParams.h.

Member Typedef Documentation

using gtsam::LevenbergMarquardtParams::OptimizerType = LevenbergMarquardtOptimizer

Definition at line 45 of file LevenbergMarquardtParams.h.

Member Enumeration Documentation

enum gtsam::LevenbergMarquardtParams::VerbosityLM

See LevenbergMarquardtParams::lmVerbosity

Enumerator
SILENT
SUMMARY
TERMINATION
LAMBDA
TRYLAMBDA
TRYCONFIG
DAMPED
TRYDELTA

Definition at line 39 of file LevenbergMarquardtParams.h.

Constructor & Destructor Documentation

gtsam::LevenbergMarquardtParams::LevenbergMarquardtParams ( )

inline

Definition at line 61 of file LevenbergMarquardtParams.h.

gtsam::LevenbergMarquardtParams::~LevenbergMarquardtParams ( )

inlineoverride

Definition at line 125 of file LevenbergMarquardtParams.h.

Member Function Documentation

static LevenbergMarquardtParams gtsam::LevenbergMarquardtParams::CeresDefaults ( )

inlinestatic

Definition at line 106 of file LevenbergMarquardtParams.h.

boost::shared_ptr<NonlinearOptimizerParams> gtsam::LevenbergMarquardtParams::clone ( ) const

inline

Returns: a deep copy of this object

Definition at line 152 of file LevenbergMarquardtParams.h.

static LevenbergMarquardtParams gtsam::LevenbergMarquardtParams::EnsureHasOrdering	(	LevenbergMarquardtParams	params,
		const NonlinearFactorGraph &	graph
	)

inlinestatic

Definition at line 112 of file LevenbergMarquardtParams.h.

bool gtsam::LevenbergMarquardtParams::getDiagonalDamping ( ) const

inline

Definition at line 130 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::getlambdaFactor ( ) const

inline

Definition at line 131 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::getlambdaInitial ( ) const

inline

Definition at line 132 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::getlambdaLowerBound ( ) const

inline

Definition at line 133 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::getlambdaUpperBound ( ) const

inline

Definition at line 134 of file LevenbergMarquardtParams.h.

std::string gtsam::LevenbergMarquardtParams::getLogFile ( ) const

inline

Definition at line 136 of file LevenbergMarquardtParams.h.

bool gtsam::LevenbergMarquardtParams::getUseFixedLambdaFactor ( )

inline

Definition at line 135 of file LevenbergMarquardtParams.h.

std::string gtsam::LevenbergMarquardtParams::getVerbosityLM ( ) const

inline

Definition at line 137 of file LevenbergMarquardtParams.h.

static LevenbergMarquardtParams gtsam::LevenbergMarquardtParams::LegacyDefaults ( )

inlinestatic

Definition at line 100 of file LevenbergMarquardtParams.h.

void gtsam::LevenbergMarquardtParams::print ( const std::string & str = "" ) const

overridevirtual

Reimplemented from gtsam::NonlinearOptimizerParams.

Definition at line 94 of file LevenbergMarquardtParams.cpp.

static LevenbergMarquardtParams gtsam::LevenbergMarquardtParams::ReplaceOrdering	(	LevenbergMarquardtParams	params,
		const Ordering &	ordering
	)

inlinestatic

Definition at line 119 of file LevenbergMarquardtParams.h.

static void gtsam::LevenbergMarquardtParams::SetCeresDefaults ( LevenbergMarquardtParams * p )

inlinestatic

Definition at line 85 of file LevenbergMarquardtParams.h.

void gtsam::LevenbergMarquardtParams::setDiagonalDamping ( bool flag )

inline

Definition at line 139 of file LevenbergMarquardtParams.h.

void gtsam::LevenbergMarquardtParams::setlambdaFactor ( double value )

inline

Definition at line 140 of file LevenbergMarquardtParams.h.

void gtsam::LevenbergMarquardtParams::setlambdaInitial ( double value )

inline

Definition at line 141 of file LevenbergMarquardtParams.h.

void gtsam::LevenbergMarquardtParams::setlambdaLowerBound ( double value )

inline

Definition at line 142 of file LevenbergMarquardtParams.h.

void gtsam::LevenbergMarquardtParams::setlambdaUpperBound ( double value )

inline

Definition at line 143 of file LevenbergMarquardtParams.h.

static void gtsam::LevenbergMarquardtParams::SetLegacyDefaults ( LevenbergMarquardtParams * p )

inlinestatic

Definition at line 69 of file LevenbergMarquardtParams.h.

void gtsam::LevenbergMarquardtParams::setLogFile ( const std::string & s )

inline

Definition at line 145 of file LevenbergMarquardtParams.h.

void gtsam::LevenbergMarquardtParams::setUseFixedLambdaFactor ( bool flag )

inline

Definition at line 144 of file LevenbergMarquardtParams.h.

void gtsam::LevenbergMarquardtParams::setVerbosityLM ( const std::string & s )

inline

Definition at line 146 of file LevenbergMarquardtParams.h.

LevenbergMarquardtParams::VerbosityLM gtsam::LevenbergMarquardtParams::verbosityLMTranslator ( const std::string & s )

static

Definition at line 32 of file LevenbergMarquardtParams.cpp.

std::string gtsam::LevenbergMarquardtParams::verbosityLMTranslator ( VerbosityLM value )

static

Definition at line 58 of file LevenbergMarquardtParams.cpp.

Member Data Documentation

bool gtsam::LevenbergMarquardtParams::diagonalDamping

if true, use diagonal of Hessian

Definition at line 56 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::lambdaFactor

The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0)

Definition at line 50 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::lambdaInitial

The initial Levenberg-Marquardt damping term (default: 1e-5)

Definition at line 49 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::lambdaLowerBound

The minimum lambda used in LM (default: 0)

Definition at line 52 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::lambdaUpperBound

The maximum lambda to try before assuming the optimization has failed (default: 1e5)

Definition at line 51 of file LevenbergMarquardtParams.h.

std::string gtsam::LevenbergMarquardtParams::logFile

an optional CSV log file, with [iteration, time, error, lambda]

Definition at line 55 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::maxDiagonal

when using diagonal damping saturates the maximum diagonal entries (default: 1e32)

Definition at line 59 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::minDiagonal

when using diagonal damping saturates the minimum diagonal entries (default: 1e-6)

Definition at line 58 of file LevenbergMarquardtParams.h.

double gtsam::LevenbergMarquardtParams::minModelFidelity

Lower bound for the modelFidelity to accept the result of an LM iteration.

Definition at line 54 of file LevenbergMarquardtParams.h.

bool gtsam::LevenbergMarquardtParams::useFixedLambdaFactor

if true applies constant increase (or decrease) to lambda according to lambdaFactor

Definition at line 57 of file LevenbergMarquardtParams.h.

VerbosityLM gtsam::LevenbergMarquardtParams::verbosityLM

The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity.

Definition at line 53 of file LevenbergMarquardtParams.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation