#include <NonlinearOptimizerParams.h>

Inheritance diagram for gtsam::NonlinearOptimizerParams:

[legend]

Public Types
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
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

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

void	setAbsoluteErrorTol (double value)

void	setErrorTol (double value)

void	setIterativeParams (const std::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 Verbosity	verbosityTranslator (const std::string &s)

static std::string	verbosityTranslator (Verbosity value)

Public Attributes
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...

std::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...

Private Member Functions
LinearSolverType	linearSolverTranslator (const std::string &linearSolverType) const

std::string	linearSolverTranslator (LinearSolverType linearSolverType) const

Ordering::OrderingType	orderingTypeTranslator (const std::string &type) const

std::string	orderingTypeTranslator (Ordering::OrderingType type) const

Detailed Description

The common parameters for Nonlinear optimizers. Most optimizers deriving from NonlinearOptimizer also subclass the parameters.

Definition at line 35 of file NonlinearOptimizerParams.h.

Member Typedef Documentation

◆ IterationHook

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

Type for an optional user-provided hook to be called after each internal optimizer iteration. See iterationHook below.

Definition at line 69 of file NonlinearOptimizerParams.h.

Member Enumeration Documentation

◆ LinearSolverType

enum gtsam::NonlinearOptimizerParams::LinearSolverType

See NonlinearOptimizerParams::linearSolverType

Enumerator
MULTIFRONTAL_CHOLESKY
MULTIFRONTAL_QR
SEQUENTIAL_CHOLESKY
SEQUENTIAL_QR
Iterative
CHOLMOD

Definition at line 98 of file NonlinearOptimizerParams.h.

◆ Verbosity

enum gtsam::NonlinearOptimizerParams::Verbosity

See NonlinearOptimizerParams::verbosity

Enumerator
SILENT
TERMINATION
ERROR
VALUES
DELTA
LINEAR

Definition at line 38 of file NonlinearOptimizerParams.h.

Constructor & Destructor Documentation

◆ NonlinearOptimizerParams()

gtsam::NonlinearOptimizerParams::NonlinearOptimizerParams ( )

default

◆ ~NonlinearOptimizerParams()

virtual gtsam::NonlinearOptimizerParams::~NonlinearOptimizerParams ( )

inlinevirtual

Definition at line 112 of file NonlinearOptimizerParams.h.

Member Function Documentation

◆ equals()

bool gtsam::NonlinearOptimizerParams::equals	(	const NonlinearOptimizerParams &	other,
		double	tol = `1e-9`
	)		const

Definition at line 127 of file NonlinearOptimizerParams.cpp.

◆ getAbsoluteErrorTol()

double gtsam::NonlinearOptimizerParams::getAbsoluteErrorTol ( ) const

inline

Definition at line 51 of file NonlinearOptimizerParams.h.

◆ getEliminationFunction()

GaussianFactorGraph::Eliminate gtsam::NonlinearOptimizerParams::getEliminationFunction ( ) const

inline

Definition at line 137 of file NonlinearOptimizerParams.h.

◆ getErrorTol()

double gtsam::NonlinearOptimizerParams::getErrorTol ( ) const

inline

Definition at line 52 of file NonlinearOptimizerParams.h.

◆ getLinearSolverType()

std::string gtsam::NonlinearOptimizerParams::getLinearSolverType ( ) const

inline

Definition at line 153 of file NonlinearOptimizerParams.h.

◆ getMaxIterations()

size_t gtsam::NonlinearOptimizerParams::getMaxIterations ( ) const

inline

Definition at line 49 of file NonlinearOptimizerParams.h.

◆ getOrderingType()

std::string gtsam::NonlinearOptimizerParams::getOrderingType ( ) const

inline

Definition at line 168 of file NonlinearOptimizerParams.h.

◆ getRelativeErrorTol()

double gtsam::NonlinearOptimizerParams::getRelativeErrorTol ( ) const

inline

Definition at line 50 of file NonlinearOptimizerParams.h.

◆ getVerbosity()

std::string gtsam::NonlinearOptimizerParams::getVerbosity ( ) const

inline

Definition at line 53 of file NonlinearOptimizerParams.h.

◆ isCholmod()

bool gtsam::NonlinearOptimizerParams::isCholmod ( ) const

inline

Definition at line 129 of file NonlinearOptimizerParams.h.

◆ isIterative()

bool gtsam::NonlinearOptimizerParams::isIterative ( ) const

inline

Definition at line 133 of file NonlinearOptimizerParams.h.

◆ isMultifrontal()

bool gtsam::NonlinearOptimizerParams::isMultifrontal ( ) const

inline

Definition at line 119 of file NonlinearOptimizerParams.h.

◆ isSequential()

bool gtsam::NonlinearOptimizerParams::isSequential ( ) const

inline

Definition at line 124 of file NonlinearOptimizerParams.h.

◆ linearSolverTranslator() [1/2]

NonlinearOptimizerParams::LinearSolverType gtsam::NonlinearOptimizerParams::linearSolverTranslator ( const std::string & linearSolverType ) const

private

Definition at line 171 of file NonlinearOptimizerParams.cpp.

◆ linearSolverTranslator() [2/2]

std::string gtsam::NonlinearOptimizerParams::linearSolverTranslator ( LinearSolverType linearSolverType ) const

private

Definition at line 149 of file NonlinearOptimizerParams.cpp.

◆ orderingTypeTranslator() [1/2]

Ordering::OrderingType gtsam::NonlinearOptimizerParams::orderingTypeTranslator ( const std::string & type ) const

private

Definition at line 207 of file NonlinearOptimizerParams.cpp.

◆ orderingTypeTranslator() [2/2]

std::string gtsam::NonlinearOptimizerParams::orderingTypeTranslator ( Ordering::OrderingType type ) const

private

Definition at line 190 of file NonlinearOptimizerParams.cpp.

◆ print()

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

virtual

Reimplemented in gtsam::LevenbergMarquardtParams, and gtsam::DoglegParams.

Definition at line 75 of file NonlinearOptimizerParams.cpp.

◆ setAbsoluteErrorTol()

void gtsam::NonlinearOptimizerParams::setAbsoluteErrorTol ( double value )

inline

Definition at line 57 of file NonlinearOptimizerParams.h.

◆ setErrorTol()

void gtsam::NonlinearOptimizerParams::setErrorTol ( double value )

inline

Definition at line 58 of file NonlinearOptimizerParams.h.

◆ setIterativeParams()

void gtsam::NonlinearOptimizerParams::setIterativeParams ( const std::shared_ptr< IterativeOptimizationParameters > params )

Definition at line 69 of file NonlinearOptimizerParams.cpp.

◆ setLinearSolverType()

void gtsam::NonlinearOptimizerParams::setLinearSolverType ( const std::string & solver )

inline

Definition at line 157 of file NonlinearOptimizerParams.h.

◆ setMaxIterations()

void gtsam::NonlinearOptimizerParams::setMaxIterations ( int value )

inline

Definition at line 55 of file NonlinearOptimizerParams.h.

◆ setOrdering()

void gtsam::NonlinearOptimizerParams::setOrdering ( const Ordering & ordering )

inline

Definition at line 163 of file NonlinearOptimizerParams.h.

◆ setOrderingType()

void gtsam::NonlinearOptimizerParams::setOrderingType ( const std::string & ordering )

inline

Definition at line 173 of file NonlinearOptimizerParams.h.

◆ setRelativeErrorTol()

void gtsam::NonlinearOptimizerParams::setRelativeErrorTol ( double value )

inline

Definition at line 56 of file NonlinearOptimizerParams.h.

◆ setVerbosity()

void gtsam::NonlinearOptimizerParams::setVerbosity ( const std::string & src )

inline

Definition at line 59 of file NonlinearOptimizerParams.h.

◆ verbosityTranslator() [1/2]

NonlinearOptimizerParams::Verbosity gtsam::NonlinearOptimizerParams::verbosityTranslator ( const std::string & s )

static

Definition at line 16 of file NonlinearOptimizerParams.cpp.

◆ verbosityTranslator() [2/2]

std::string gtsam::NonlinearOptimizerParams::verbosityTranslator ( Verbosity value )

static

Definition at line 39 of file NonlinearOptimizerParams.cpp.

Member Data Documentation

◆ absoluteErrorTol

double gtsam::NonlinearOptimizerParams::absoluteErrorTol = 1e-5

The maximum absolute error decrease to stop iterating (default 1e-5)

Definition at line 44 of file NonlinearOptimizerParams.h.

◆ errorTol

double gtsam::NonlinearOptimizerParams::errorTol = 0.0

The maximum total error to stop iterating (default 0.0)

Definition at line 45 of file NonlinearOptimizerParams.h.

◆ iterationHook

IterationHook gtsam::NonlinearOptimizerParams::iterationHook

Optional user-provided iteration hook to be called after each optimization iteration (Default: none). Note that IterationHook is defined as a std::function<> with this signature:

void(size_t iteration, double errorBefore, double errorAfter)

which allows binding by means of a reference to a regular function:

void foo(size_t iteration, double errorBefore, double errorAfter);
// ...
lmOpts.iterationHook = &foo;

or to a C++11 lambda (preferred if you need to capture additional context variables, such that the optimizer object itself, the factor graph, etc.):

lmOpts.iterationHook = [&](size_t iter, double oldError, double newError)
{
  // ...
};

or to the result of a properly-formed std::bind call.

Definition at line 95 of file NonlinearOptimizerParams.h.

◆ iterativeParams

IterativeOptimizationParameters::shared_ptr gtsam::NonlinearOptimizerParams::iterativeParams

The container for iterativeOptimization parameters. used in CG Solvers.

Definition at line 109 of file NonlinearOptimizerParams.h.

◆ linearSolverType

LinearSolverType gtsam::NonlinearOptimizerParams::linearSolverType = MULTIFRONTAL_CHOLESKY

The type of linear solver to use in the nonlinear optimizer.

Definition at line 107 of file NonlinearOptimizerParams.h.

◆ maxIterations

size_t gtsam::NonlinearOptimizerParams::maxIterations = 100

The maximum iterations to stop iterating (default 100)

Definition at line 42 of file NonlinearOptimizerParams.h.

◆ ordering

std::optional<Ordering> gtsam::NonlinearOptimizerParams::ordering

The optional variable elimination ordering, or empty to use COLAMD (default: empty)

Definition at line 108 of file NonlinearOptimizerParams.h.

◆ orderingType

Ordering::OrderingType gtsam::NonlinearOptimizerParams::orderingType = Ordering::COLAMD

The method of ordering use during variable elimination (default COLAMD)

Definition at line 47 of file NonlinearOptimizerParams.h.

◆ relativeErrorTol

double gtsam::NonlinearOptimizerParams::relativeErrorTol = 1e-5

The maximum relative error decrease to stop iterating (default 1e-5)

Definition at line 43 of file NonlinearOptimizerParams.h.

◆ verbosity

Verbosity gtsam::NonlinearOptimizerParams::verbosity = SILENT

The printing verbosity during optimization (default SILENT)

Definition at line 46 of file NonlinearOptimizerParams.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

◆ IterationHook

Member Enumeration Documentation

◆ LinearSolverType

◆ Verbosity

Constructor & Destructor Documentation

◆ NonlinearOptimizerParams()

◆ ~NonlinearOptimizerParams()

Member Function Documentation

◆ equals()

◆ getAbsoluteErrorTol()

◆ getEliminationFunction()

◆ getErrorTol()

◆ getLinearSolverType()

◆ getMaxIterations()

◆ getOrderingType()

◆ getRelativeErrorTol()

◆ getVerbosity()

◆ isCholmod()

◆ isIterative()

◆ isMultifrontal()

◆ isSequential()

◆ linearSolverTranslator() [1/2]

◆ linearSolverTranslator() [2/2]

◆ orderingTypeTranslator() [1/2]

◆ orderingTypeTranslator() [2/2]

◆ print()

◆ setAbsoluteErrorTol()

◆ setErrorTol()

◆ setIterativeParams()

◆ setLinearSolverType()

◆ setMaxIterations()

◆ setOrdering()

◆ setOrderingType()

◆ setRelativeErrorTol()

◆ setVerbosity()

◆ verbosityTranslator() [1/2]

◆ verbosityTranslator() [2/2]

Member Data Documentation

◆ absoluteErrorTol

◆ errorTol

◆ iterationHook

◆ iterativeParams

◆ linearSolverType

◆ maxIterations

◆ ordering

◆ orderingType

◆ relativeErrorTol

◆ verbosity