gtsam::ISAM2DoglegParams Struct Reference

#include <ISAM2Params.h>

Public Member Functions
std::string	adaptationModeTranslator (const DoglegOptimizerImpl::TrustRegionAdaptationMode &adaptationMode) const
DoglegOptimizerImpl::TrustRegionAdaptationMode	adaptationModeTranslator (const std::string &adaptationMode) const
std::string	getAdaptationMode () const
double	getInitialDelta () const
double	getWildfireThreshold () const
	ISAM2DoglegParams (double _initialDelta=1.0, double _wildfireThreshold=1e-5, DoglegOptimizerImpl::TrustRegionAdaptationMode _adaptationMode=DoglegOptimizerImpl::SEARCH_EACH_ITERATION, bool _verbose=false)
bool	isVerbose () const
void	print (const std::string str="") const
void	setAdaptationMode (const std::string &adaptationMode)
void	setInitialDelta (double initialDelta)
void	setVerbose (bool verbose)
void	setWildfireThreshold (double wildfireThreshold)

Public Attributes
DoglegOptimizerImpl::TrustRegionAdaptationMode	adaptationMode
double	initialDelta
	The initial trust region radius for Dogleg. More...
bool	verbose
	Whether Dogleg prints iteration and convergence information. More...
double	wildfireThreshold

Detailed Description

Parameters for ISAM2 using Dogleg optimization. Either this class or ISAM2GaussNewtonParams should be specified as the optimizationParams in ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&).

Definition at line 68 of file ISAM2Params.h.

Constructor & Destructor Documentation

ISAM2DoglegParams()

gtsam::ISAM2DoglegParams::ISAM2DoglegParams ( double  _initialDelta = 1.0, double  _wildfireThreshold = 1e-5, DoglegOptimizerImpl::TrustRegionAdaptationMode  _adaptationMode = DoglegOptimizerImpl:: SEARCH_EACH_ITERATION, bool  _verbose = false  )

inline

Specify parameters as constructor arguments

Parameters

_initialDelta	see ISAM2DoglegParams::initialDelta
_wildfireThreshold	see ISAM2DoglegParams::wildfireThreshold
_adaptationMode	see ISAM2DoglegParams::adaptationMode
_verbose	see ISAM2DoglegParams::verbose

Definition at line 80 of file ISAM2Params.h.

Member Function Documentation

adaptationModeTranslator() [1/2]

string gtsam::ISAM2DoglegParams::adaptationModeTranslator

(

const DoglegOptimizerImpl::TrustRegionAdaptationMode &

adaptationMode

)

const

Definition at line 25 of file ISAM2Params.cpp.

adaptationModeTranslator() [2/2]

DoglegOptimizerImpl::TrustRegionAdaptationMode gtsam::ISAM2DoglegParams::adaptationModeTranslator

(

const std::string &

adaptationMode

)

const

Definition at line 45 of file ISAM2Params.cpp.

getAdaptationMode()

std::string gtsam::ISAM2DoglegParams::getAdaptationMode ( ) const

inline

Definition at line 107 of file ISAM2Params.h.

getInitialDelta()

double gtsam::ISAM2DoglegParams::getInitialDelta ( ) const

inline

Definition at line 105 of file ISAM2Params.h.

getWildfireThreshold()

double gtsam::ISAM2DoglegParams::getWildfireThreshold ( ) const

inline

Definition at line 106 of file ISAM2Params.h.

isVerbose()

bool gtsam::ISAM2DoglegParams::isVerbose ( ) const

inline

Definition at line 110 of file ISAM2Params.h.

print()

void gtsam::ISAM2DoglegParams::print ( const std::string  str = "" ) const

inline

Definition at line 94 of file ISAM2Params.h.

setAdaptationMode()

void gtsam::ISAM2DoglegParams::setAdaptationMode ( const std::string &  adaptationMode )

inline

Definition at line 117 of file ISAM2Params.h.

setInitialDelta()

void gtsam::ISAM2DoglegParams::setInitialDelta ( double  initialDelta )

inline

Definition at line 111 of file ISAM2Params.h.

setVerbose()

void gtsam::ISAM2DoglegParams::setVerbose ( bool  verbose )

inline

Definition at line 120 of file ISAM2Params.h.

setWildfireThreshold()

void gtsam::ISAM2DoglegParams::setWildfireThreshold ( double  wildfireThreshold )

inline

Definition at line 114 of file ISAM2Params.h.

Member Data Documentation

adaptationMode

DoglegOptimizerImpl::TrustRegionAdaptationMode gtsam::ISAM2DoglegParams::adaptationMode

See description in DoglegOptimizerImpl::TrustRegionAdaptationMode

Definition at line 74 of file ISAM2Params.h.

initialDelta

double gtsam::ISAM2DoglegParams::initialDelta

The initial trust region radius for Dogleg.

Definition at line 69 of file ISAM2Params.h.

verbose

bool gtsam::ISAM2DoglegParams::verbose

Whether Dogleg prints iteration and convergence information.

Definition at line 77 of file ISAM2Params.h.

wildfireThreshold

double gtsam::ISAM2DoglegParams::wildfireThreshold

Continue updating the linear delta only when changes are above this threshold (default: 1e-5)

Definition at line 71 of file ISAM2Params.h.

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

• ISAM2Params.h
• ISAM2Params.cpp