44 deltaInitial(1.0), verbosityDL(SILENT) {}
48 void print(
const std::string& str =
"")
const override {
49 NonlinearOptimizerParams::print(str);
50 std::cout <<
" deltaInitial: " << deltaInitial <<
"\n";
54 double getDeltaInitial()
const {
return deltaInitial; }
55 std::string getVerbosityDL()
const {
return verbosityDLTranslator(verbosityDL); }
57 void setDeltaInitial(
double deltaInitial) { this->deltaInitial = deltaInitial; }
58 void setVerbosityDL(
const std::string& verbosityDL) { this->verbosityDL = verbosityDLTranslator(verbosityDL); }
61 VerbosityDL verbosityDLTranslator(
const std::string& verbosityDL)
const;
62 std::string verbosityDLTranslator(VerbosityDL verbosityDL)
const;
74 typedef boost::shared_ptr<DoglegOptimizer> shared_ptr;
118 double getDelta()
const;
Base class and parameters for nonlinear optimization algorithms.
Global functions in a separate testing namespace.
Definition chartTesting.h:28
boost::shared_ptr< This > shared_ptr
shared_ptr to this class
Definition GaussianFactorGraph.h:81
Parameters for Levenberg-Marquardt optimization.
Definition DoglegOptimizer.h:32
VerbosityDL
See DoglegParams::dlVerbosity.
Definition DoglegOptimizer.h:35
VerbosityDL verbosityDL
The verbosity level for Dogleg (default: SILENT), see also NonlinearOptimizerParams::verbosity.
Definition DoglegOptimizer.h:41
double deltaInitial
The initial trust region radius (default: 10.0)
Definition DoglegOptimizer.h:40
This class performs Dogleg nonlinear optimization.
Definition DoglegOptimizer.h:68
~DoglegOptimizer() override
Virtual destructor.
Definition DoglegOptimizer.h:106
const NonlinearOptimizerParams & _params() const override
Access the parameters (base class version)
Definition DoglegOptimizer.h:124
const DoglegParams & params() const
Read-only access the parameters.
Definition DoglegOptimizer.h:115
Definition NonlinearFactorGraph.h:55
This is the abstract interface for classes that can optimize for the maximum-likelihood estimate of a...
Definition NonlinearOptimizer.h:75
The common parameters for Nonlinear optimizers.
Definition NonlinearOptimizerParams.h:34
A non-templated config holding any types of Manifold-group elements.
Definition Values.h:65