gtsam 4.2.0
gtsam
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gtsam::ISAM2DoglegParams Struct Reference

Detailed Description

Parameters for ISAM2 using Dogleg optimization.

Either this class or ISAM2GaussNewtonParams should be specified as the optimizationParams in ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&).

Public Member Functions

 ISAM2DoglegParams (double _initialDelta=1.0, double _wildfireThreshold=1e-5, DoglegOptimizerImpl::TrustRegionAdaptationMode _adaptationMode=DoglegOptimizerImpl::SEARCH_EACH_ITERATION, bool _verbose=false)
 Specify parameters as constructor arguments.
 
void print (const std::string str="") const
 
double getInitialDelta () const
 
double getWildfireThreshold () const
 
std::string getAdaptationMode () const
 
bool isVerbose () const
 
void setInitialDelta (double initialDelta)
 
void setWildfireThreshold (double wildfireThreshold)
 
void setAdaptationMode (const std::string &adaptationMode)
 
void setVerbose (bool verbose)
 
std::string adaptationModeTranslator (const DoglegOptimizerImpl::TrustRegionAdaptationMode &adaptationMode) const
 
DoglegOptimizerImpl::TrustRegionAdaptationMode adaptationModeTranslator (const std::string &adaptationMode) const
 

Public Attributes

double initialDelta
 The initial trust region radius for Dogleg.
 
double wildfireThreshold
 Continue updating the linear delta only when changes are above this threshold (default: 1e-5)
 
DoglegOptimizerImpl::TrustRegionAdaptationMode adaptationMode
 See description in DoglegOptimizerImpl::TrustRegionAdaptationMode.
 
bool verbose
 Whether Dogleg prints iteration and convergence information.
 

Constructor & Destructor Documentation

◆ ISAM2DoglegParams()

gtsam::ISAM2DoglegParams::ISAM2DoglegParams ( double  _initialDelta = 1.0,
double  _wildfireThreshold = 1e-5,
DoglegOptimizerImpl::TrustRegionAdaptationMode  _adaptationMode = DoglegOptimizerImpl:: SEARCH_EACH_ITERATION,
bool  _verbose = false 
)
inline

Specify parameters as constructor arguments.

Parameters
_initialDeltasee ISAM2DoglegParams::initialDelta
_wildfireThresholdsee ISAM2DoglegParams::wildfireThreshold
_adaptationModesee ISAM2DoglegParams::adaptationMode
_verbosesee ISAM2DoglegParams::verbose

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