Detailed Description

The common parameters for Nonlinear optimizers.

Most optimizers deriving from NonlinearOptimizer also subclass the parameters.

Inheritance diagram for gtsam::NonlinearOptimizerParams:

Public Member Functions
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
static Verbosity	verbosityTranslator (const std::string &s)

static std::string	verbosityTranslator (Verbosity value)

Public Attributes
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< Ordering >	ordering
	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	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...

Member Typedef Documentation

using gtsam::NonlinearOptimizerParams::IterationHook = std::function< void(size_t , double, double)>

Type for an optional user-provided hook to be called after each internal optimizer iteration.

See iterationHook below.

IterationHook gtsam::NonlinearOptimizerParams::iterationHook

Optional user-provided iteration hook to be called after each optimization iteration (Default: none).

Note that IterationHook is defined as a std::function<> with this signature:

void(size_t iteration, double errorBefore, double errorAfter)

which allows binding by means of a reference to a regular function:

void foo(size_t iteration, double errorBefore, double errorAfter);
// ...
lmOpts.iterationHook = &foo;

or to a C++11 lambda (preferred if you need to capture additional context variables, such that the optimizer object itself, the factor graph, etc.):

lmOpts.iterationHook = [&](size_t iter, double oldError, double newError)
{
  // ...
};

or to the result of a properly-formed std::bind call.

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