gtsam  4.1.0
gtsam
gtsam::DoglegParams 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::DoglegParams:

Public Member Functions

void print (const std::string &str="") const override
 
double getDeltaInitial () const
 
std::string getVerbosityDL () const
 
void setDeltaInitial (double deltaInitial)
 
void setVerbosityDL (const std::string &verbosityDL)
 
- 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 isMultifrontal () const
 
bool isSequential () const
 
bool isCholmod () const
 
bool isIterative () const
 
GaussianFactorGraph::Eliminate getEliminationFunction () const
 
std::string getLinearSolverType () const
 
void setLinearSolverType (const std::string &solver)
 
void setIterativeParams (const boost::shared_ptr< IterativeOptimizationParameters > params)
 
void setOrdering (const Ordering &ordering)
 
std::string getOrderingType () const
 
void setOrderingType (const std::string &ordering)
 

Public Attributes

double deltaInitial
 The initial trust region radius (default: 10.0)
 
VerbosityDL verbosityDL
 The verbosity level for Dogleg (default: SILENT), see also NonlinearOptimizerParams::verbosity.
 
- 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). More...
 
LinearSolverType linearSolverType = MULTIFRONTAL_CHOLESKY
 The type of linear solver to use in the nonlinear optimizer.
 
boost::optional< Orderingordering
 The optional variable elimination ordering, or empty to use COLAMD (default: empty)
 
IterativeOptimizationParameters::shared_ptr iterativeParams
 The container for iterativeOptimization parameters. used in CG Solvers.
 

Public Types

enum  VerbosityDL { SILENT, VERBOSE }
 See DoglegParams::dlVerbosity.
 
- Public Types inherited from gtsam::NonlinearOptimizerParams
enum  Verbosity {
  SILENT, TERMINATION, ERROR, VALUES,
  DELTA, LINEAR
}
 See NonlinearOptimizerParams::verbosity.
 
enum  LinearSolverType {
  MULTIFRONTAL_CHOLESKY, MULTIFRONTAL_QR, SEQUENTIAL_CHOLESKY, SEQUENTIAL_QR,
  Iterative, CHOLMOD
}
 See NonlinearOptimizerParams::linearSolverType.
 
using IterationHook = std::function< void(size_t, double, double)>
 Type for an optional user-provided hook to be called after each internal optimizer iteration. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from gtsam::NonlinearOptimizerParams
static Verbosity verbosityTranslator (const std::string &s)
 
static std::string verbosityTranslator (Verbosity value)
 

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