gtsam 4.1.1
gtsam::NonlinearOptimizerParams Class Reference

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< 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  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...

Member Typedef Documentation

◆ IterationHook

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.

Member Data Documentation

◆ iterationHook

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: