gtsam::LMDampingParams Struct Reference

Detailed Description

Parameters controlling LM-style damping as applied by gtsam::NonlinearMultifrontalSolver.

Note

These parameters are intentionally in a standalone header so they can be referenced from nonlinear optimizer parameter types without pulling in the full solver headers.

Public Attributes
bool	diagonalDamping = false
	If true, use diagonal damping (LM) instead of identity damping.
bool	exactHessianDiagonal = false
	If true, use the exact diagonal of the linearized system Hessian diag(J^T J) (computed via GaussianFactorGraph::hessianDiagonal()) when applying diagonal damping.
double	minDiagonal = 1e-6
	Clamp minimum diagonal value used for diagonal damping.
double	maxDiagonal = 1e32
	Clamp maximum diagonal value used for diagonal damping.

Member Data Documentation

exactHessianDiagonal

bool gtsam::LMDampingParams::exactHessianDiagonal = false

If true, use the exact diagonal of the linearized system Hessian diag(J^T J) (computed via GaussianFactorGraph::hessianDiagonal()) when applying diagonal damping.

If false, use the diagonal of each clique's assembled information matrix, which includes Schur complement contributions and can differ from diag(J^T J).

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/nonlinear/LMDampingParams.h