DoglegOptimizer.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/nonlinear/NonlinearOptimizer.h>
 
namespace gtsam {
 
class DoglegOptimizer;

class GTSAM_EXPORT DoglegParams : public NonlinearOptimizerParams {
public:
  enum VerbosityDL {
    SILENT,
    VERBOSE
  };
 
  double deltaInitial; 
  VerbosityDL verbosityDL; 
 
  DoglegParams() :
    deltaInitial(1.0), verbosityDL(SILENT) {}
 
  ~DoglegParams() override {}
 
  void print(const std::string& str = "") const override {
    NonlinearOptimizerParams::print(str);
    std::cout << "               deltaInitial: " << deltaInitial << "\n";
    std::cout.flush();
  }
 
  double getDeltaInitial() const { return deltaInitial; }
  std::string getVerbosityDL() const { return verbosityDLTranslator(verbosityDL); }
 
  void setDeltaInitial(double deltaInitial) { this->deltaInitial = deltaInitial; }
  void setVerbosityDL(const std::string& verbosityDL) { this->verbosityDL = verbosityDLTranslator(verbosityDL); }
 
private:
  VerbosityDL verbosityDLTranslator(const std::string& verbosityDL) const;
  std::string verbosityDLTranslator(VerbosityDL verbosityDL) const;
};

class GTSAM_EXPORT DoglegOptimizer : public NonlinearOptimizer {
 
protected:
  DoglegParams params_;
 
public:
  typedef boost::shared_ptr<DoglegOptimizer> shared_ptr;


  DoglegOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
      const DoglegParams& params = DoglegParams());

  DoglegOptimizer(const NonlinearFactorGraph& graph, const Values& initialValues,
                  const Ordering& ordering);



  ~DoglegOptimizer() override {}

  GaussianFactorGraph::shared_ptr iterate() override;

  const DoglegParams& params() const { return params_; }

  double getDelta() const;

 
protected:
  const NonlinearOptimizerParams& _params() const override { return params_; }

  DoglegParams ensureHasOrdering(DoglegParams params, const NonlinearFactorGraph& graph) const;
};
 
}