Struct OptimizerParams

Defined in File options.hpp

Struct Documentation

struct OptimizerParams

Public Functions

inline OptimizerParams()

inline void get(rclcpp_lifecycle::LifecycleNode *node, const std::string &name)

Get params from ROS parameter.

Parameters:

node_ – Ptr to node
name – Name of plugin

Public Members

const std::map<std::string, ceres::LinearSolverType> solver_types = {{"DENSE_QR", ceres::DENSE_QR}, {"SPARSE_NORMAL_CHOLESKY", ceres::SPARSE_NORMAL_CHOLESKY}}

bool debug

std::string linear_solver_type

int max_iterations

double param_tol

double fn_tol

double gradient_tol