52 lines
1.3 KiB
C
52 lines
1.3 KiB
C
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/*
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* NonlinearOptimizationParameters.h
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*
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* Created on: Oct 14, 2010
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* Author: nikai
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* Description:
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*/
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#pragma once
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namespace gtsam {
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// a container for all related parameters
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struct NonLinearOptimizerParameters {
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typedef enum {
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SILENT,
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ERROR,
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LAMBDA,
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TRYLAMBDA,
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CONFIG,
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DELTA,
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TRYCONFIG,
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TRYDELTA,
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LINEAR,
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DAMPED
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} verbosityLevel;
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typedef enum {
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FAST,
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BOUNDED,
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CAUTIOUS
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} LambdaMode;
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double absDecrease_; /* threshold for the absolute decrease per iteration */
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double relDecrease_; /* threshold for the relative decrease per iteration */
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double sumError_; /* threshold for the sum of error */
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int maxIterations_ ;
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double lambdaFactor_ ;
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verbosityLevel verbosity_;
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LambdaMode lambdaMode_;
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NonLinearOptimizerParameters(): absDecrease_(1), relDecrease_(1e-3), sumError_(0.0),
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maxIterations_(100), lambdaFactor_(10.0), verbosity_(ERROR), lambdaMode_(BOUNDED){}
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NonLinearOptimizerParameters(double absDecrease, double relDecrease, double sumError,
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int iIters = 100, double lambdaFactor = 10, verbosityLevel v = ERROR, LambdaMode lambdaMode = BOUNDED)
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:absDecrease_(absDecrease), relDecrease_(relDecrease), sumError_(sumError),
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maxIterations_(iIters), lambdaFactor_(lambdaFactor), verbosity_(v), lambdaMode_(lambdaMode){}
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};
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}
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