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Merged NonlinearSolverParams in gtsam.h into NonlinearOptimizerParams, removed references to NonlinearSolverParams elsewhere in comments

release/4.3a0
Alex Cunningham 2013-10-25 19:47:22 +00:00
parent fccdc46180
commit 4950d6020a
3 changed files with 17 additions and 14 deletions
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27
gtsam.h
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@ -1740,6 +1740,7 @@ virtual class LinearContainerFactor : gtsam::NonlinearFactor {
//************************************************************************* //*************************************************************************
#include <gtsam/nonlinear/NonlinearOptimizer.h> #include <gtsam/nonlinear/NonlinearOptimizer.h>
#include <gtsam/nonlinear/NonlinearOptimizerParams.h>
virtual class NonlinearOptimizerParams { virtual class NonlinearOptimizerParams {
NonlinearOptimizerParams(); NonlinearOptimizerParams();
void print(string s) const; void print(string s) const;
@ -1755,15 +1756,6 @@ virtual class NonlinearOptimizerParams {
void setAbsoluteErrorTol(double value); void setAbsoluteErrorTol(double value);
void setErrorTol(double value); void setErrorTol(double value);
void setVerbosity(string s); void setVerbosity(string s);
};
bool checkConvergence(double relativeErrorTreshold,
double absoluteErrorTreshold, double errorThreshold,
double currentError, double newError);
#include <gtsam/nonlinear/NonlinearOptimizerParams.h>
virtual class NonlinearSolverParams : gtsam::NonlinearOptimizerParams {
NonlinearSolverParams();
string getLinearSolverType() const; string getLinearSolverType() const;
@ -1777,13 +1769,24 @@ virtual class NonlinearSolverParams : gtsam::NonlinearOptimizerParams {
bool isCG() const; bool isCG() const;
}; };
bool checkConvergence(double relativeErrorTreshold,
double absoluteErrorTreshold, double errorThreshold,
double currentError, double newError);
//#include <gtsam/nonlinear/NonlinearOptimizerParams.h>
//virtual class NonlinearSolverParams : gtsam::NonlinearOptimizerParams {
// NonlinearSolverParams();
//
//
//};
#include <gtsam/nonlinear/GaussNewtonOptimizer.h> #include <gtsam/nonlinear/GaussNewtonOptimizer.h>
virtual class GaussNewtonParams : gtsam::NonlinearSolverParams { virtual class GaussNewtonParams : gtsam::NonlinearOptimizerParams {
GaussNewtonParams(); GaussNewtonParams();
}; };
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
virtual class LevenbergMarquardtParams : gtsam::NonlinearSolverParams { virtual class LevenbergMarquardtParams : gtsam::NonlinearOptimizerParams {
LevenbergMarquardtParams(); LevenbergMarquardtParams();
double getlambdaInitial() const; double getlambdaInitial() const;
@ -1798,7 +1801,7 @@ virtual class LevenbergMarquardtParams : gtsam::NonlinearSolverParams {
}; };
#include <gtsam/nonlinear/DoglegOptimizer.h> #include <gtsam/nonlinear/DoglegOptimizer.h>
virtual class DoglegParams : gtsam::NonlinearSolverParams { virtual class DoglegParams : gtsam::NonlinearOptimizerParams {
DoglegParams(); DoglegParams();
double getDeltaInitial() const; double getDeltaInitial() const;

2
gtsam/linear/SubgraphSolver.h
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@ -45,7 +45,7 @@ public:
* To use it in nonlinear optimization, please see the following example * To use it in nonlinear optimization, please see the following example
* *
* LevenbergMarquardtParams parameters; * LevenbergMarquardtParams parameters;
* parameters.linearSolverType = NonlinearSolverParams::CONJUGATE_GRADIENT; * parameters.linearSolverType = NonlinearOptimizerParams::CONJUGATE_GRADIENT;
* parameters.iterativeParams = boost::make_shared<SubgraphSolverParameters>(); * parameters.iterativeParams = boost::make_shared<SubgraphSolverParameters>();
* LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters); * LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters);
* Values result = optimizer.optimize(); * Values result = optimizer.optimize();

2
gtsam/nonlinear/NonlinearOptimizerParams.h
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@ -92,7 +92,7 @@ private:
public: public:
/** See NonlinearSolverParams::linearSolverType */ /** See NonlinearOptimizerParams::linearSolverType */
enum LinearSolverType { enum LinearSolverType {
MULTIFRONTAL_CHOLESKY, MULTIFRONTAL_CHOLESKY,