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gtsam::LevenbergMarquardtParams Class Reference
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.
Inheritance diagram for gtsam::LevenbergMarquardtParams:
Public Member Functions | |
| void | print (const std::string &str="") const 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 | |
| std::shared_ptr< NonlinearOptimizerParams > | clone () const |
| Public Member Functions inherited from gtsam::NonlinearOptimizerParams | |
| size_t | getMaxIterations () const |
| double | getRelativeErrorTol () const |
| double | getAbsoluteErrorTol () const |
| double | getErrorTol () const |
| std::string | getVerbosity () const |
| void | setMaxIterations (int value) |
| void | setRelativeErrorTol (double value) |
| void | setAbsoluteErrorTol (double value) |
| void | setErrorTol (double value) |
| void | setVerbosity (const std::string &src) |
| bool | equals (const NonlinearOptimizerParams &other, double tol=1e-9) const |
| bool | isMultifrontal () const |
| bool | isSequential () const |
| bool | isCholmod () const |
| bool | isIterative () const |
| bool | requiresOrdering () const |
| Return whether this solver needs a variable-elimination ordering. | |
| GaussianFactorGraph::Eliminate | getEliminationFunction () const |
| std::string | getLinearSolverType () const |
| LinearSolverType | getLinearSolver () const |
| Return the selected linear solver as a strongly typed value. | |
| void | setLinearSolverType (const std::string &solver) |
| void | setLinearSolver (LinearSolverType solver) |
| Select the linear solver using the public enum. | |
| void | setIterativeParams (const std::shared_ptr< IterativeOptimizationParameters > params) |
| void | setOrdering (const Ordering &ordering) |
| std::string | getOrderingType () const |
| void | setOrderingType (const std::string &ordering) |
Static Public Member Functions | |
| static VerbosityLM | verbosityLMTranslator (const std::string &s) |
| static std::string | verbosityLMTranslator (VerbosityLM value) |
| static void | SetLegacyDefaults (LevenbergMarquardtParams *p) |
| static void | SetCeresDefaults (LevenbergMarquardtParams *p) |
| static LevenbergMarquardtParams | LegacyDefaults () |
| static LevenbergMarquardtParams | CeresDefaults () |
| static LevenbergMarquardtParams | EnsureHasOrdering (LevenbergMarquardtParams params, const NonlinearFactorGraph &graph) |
| static LevenbergMarquardtParams | ReplaceOrdering (LevenbergMarquardtParams params, const Ordering &ord) |
| Static Public Member Functions inherited from gtsam::NonlinearOptimizerParams | |
| static Verbosity | verbosityTranslator (const std::string &s) |
| static std::string | verbosityTranslator (Verbosity value) |
Public Attributes | |
| double | lambdaInitial |
| The initial Levenberg-Marquardt damping term (default: 1e-5). | |
| double | lambdaFactor |
| The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0). | |
| double | lambdaUpperBound |
| The maximum lambda to try before assuming the optimization has failed (default: 1e5). | |
| double | lambdaLowerBound |
| The minimum lambda used in LM (default: 0). | |
| VerbosityLM | verbosityLM |
| The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity. | |
| double | minModelFidelity |
| Lower bound for the modelFidelity to accept the result of an LM iteration. | |
| std::string | logFile |
| an optional CSV log file, with [iteration, time, error, lambda] | |
| bool | useFixedLambdaFactor |
| if true applies constant increase (or decrease) to lambda according to lambdaFactor | |
| LMDampingParams | dampingParams |
| Parameters controlling LM damping behavior (legacy and MULTIFRONTAL_SOLVER). | |
| Public Attributes inherited from gtsam::NonlinearOptimizerParams | |
| size_t | maxIterations = 100 |
| The maximum iterations to stop iterating (default 100). | |
| double | relativeErrorTol = 1e-5 |
| The maximum relative error decrease to stop iterating (default 1e-5). | |
| double | absoluteErrorTol = 1e-5 |
| The maximum absolute error decrease to stop iterating (default 1e-5). | |
| double | errorTol = 0.0 |
| The maximum total error to stop iterating (default 0.0). | |
| Verbosity | verbosity = SILENT |
| The printing verbosity during optimization (default SILENT). | |
| Ordering::OrderingType | orderingType = Ordering::COLAMD |
| The method of ordering use during variable elimination (default COLAMD). | |
| IterationHook | iterationHook |
| Optional user-provided iteration hook to be called after each optimization iteration (Default: none). | |
| std::optional< Ordering > | ordering |
| The optional variable elimination ordering, or empty to use COLAMD (default: empty). | |
| IterativeOptimizationParameters::shared_ptr | iterativeParams |
| The container for iterativeOptimization parameters. | |
| LinearSolverType | linearSolverType = MULTIFRONTAL_CHOLESKY |
| Parameters for gtsam::MultifrontalSolver when using MULTIFRONTAL_SOLVER. | |
| MultifrontalParameters | multifrontalParams |
Public Types | |
| enum | VerbosityLM { SILENT = 0 , SUMMARY , TERMINATION , LAMBDA , TRYLAMBDA , TRYCONFIG , DAMPED , TRYDELTA } |
| See LevenbergMarquardtParams::verbosityLM. | |
| using | OptimizerType = LevenbergMarquardtOptimizer |
| Public Types inherited from gtsam::NonlinearOptimizerParams | |
| enum | Verbosity { SILENT , TERMINATION , ERROR , VALUES , DELTA , LINEAR } |
| See NonlinearOptimizerParams::verbosity. | |
| enum | LinearSolverType { MULTIFRONTAL_SOLVER , MULTIFRONTAL_CHOLESKY , MULTIFRONTAL_QR , SEQUENTIAL_CHOLESKY , SEQUENTIAL_QR , Iterative , CHOLMOD } |
| See NonlinearOptimizerParams::linearSolverType. | |
| using | IterationHook |
| Type for an optional user-provided hook to be called after each internal optimizer iteration. | |
Member Function Documentation
◆ clone()
|
inline |
- Returns
- a deep copy of this object
◆ print()
|
overridevirtual |
Reimplemented from gtsam::NonlinearOptimizerParams.
The documentation for this class was generated from the following files:
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/nonlinear/LevenbergMarquardtParams.h
- /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/nonlinear/LevenbergMarquardtParams.cpp
