gtsam  4.1.0
gtsam
gtsam::ShonanAveragingParameters< d > Struct Template Reference

Detailed Description

template<size_t d>
struct gtsam::ShonanAveragingParameters< d >

Parameters governing optimization etc.

Public Member Functions

 ShonanAveragingParameters (const LevenbergMarquardtParams &lm=LevenbergMarquardtParams::CeresDefaults(), const std::string &method="JACOBI", double optimalityThreshold=-1e-4, double alpha=0.0, double beta=1.0, double gamma=0.0)
 
LevenbergMarquardtParams getLMParams () const
 
void setOptimalityThreshold (double value)
 
double getOptimalityThreshold () const
 
void setAnchor (size_t index, const Rot &value)
 
std::pair< size_t, Rot > getAnchor ()
 
void setAnchorWeight (double value)
 
double getAnchorWeight ()
 
void setKarcherWeight (double value)
 
double getKarcherWeight ()
 
void setGaugesWeight (double value)
 
double getGaugesWeight ()
 

Public Attributes

LevenbergMarquardtParams lm
 
double optimalityThreshold
 
Anchor anchor
 
double alpha
 
double beta
 
double gamma
 

Public Types

using Rot = typename std::conditional< d==2, Rot2, Rot3 >::type
 
using Anchor = std::pair< size_t, Rot >
 

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