gtsam 4.1.1
gtsam::GaussNewtonParams Class Reference

Detailed Description

Parameters for Gauss-Newton optimization, inherits from NonlinearOptimizationParams.

+ Inheritance diagram for gtsam::GaussNewtonParams:

Public Types

using OptimizerType = GaussNewtonOptimizer
- Public Types inherited from gtsam::NonlinearOptimizerParams
enum  Verbosity {
 See NonlinearOptimizerParams::verbosity.
enum  LinearSolverType {
  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

- 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)
virtual void print (const std::string &str="") const
bool equals (const NonlinearOptimizerParams &other, double tol=1e-9) const
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)
- Static Public Member Functions inherited from gtsam::NonlinearOptimizerParams
static Verbosity verbosityTranslator (const std::string &s)
static std::string verbosityTranslator (Verbosity value)
- 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.

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