gtsam 4.2
gtsam
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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 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)

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

Additional Inherited Members

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

Member Function Documentation

◆ print()

void gtsam::DoglegParams::print ( const std::string & str = "") const
inlineoverridevirtual

Reimplemented from gtsam::NonlinearOptimizerParams.

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