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Add docs, fix ctor placement

release/4.3a0
Jose Luis Blanco Claraco 2020-11-16 07:25:30 +01:00
parent c5576c534f
commit 91d275c9c7
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GPG Key ID: D443304FBD70A641
1 changed files with 30 additions and 10 deletions
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40
gtsam/nonlinear/NonlinearOptimizerParams.h
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@ -33,8 +33,6 @@ namespace gtsam {
*/ */
class GTSAM_EXPORT NonlinearOptimizerParams { class GTSAM_EXPORT NonlinearOptimizerParams {
public: public:
NonlinearOptimizerParams() = default;
/** See NonlinearOptimizerParams::verbosity */ /** See NonlinearOptimizerParams::verbosity */
enum Verbosity { enum Verbosity {
SILENT, TERMINATION, ERROR, VALUES, DELTA, LINEAR SILENT, TERMINATION, ERROR, VALUES, DELTA, LINEAR
@ -47,10 +45,6 @@ public:
Verbosity verbosity = SILENT; ///< The printing verbosity during optimization (default SILENT) 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) Ordering::OrderingType orderingType = Ordering::COLAMD; ///< The method of ordering use during variable elimination (default COLAMD)
virtual ~NonlinearOptimizerParams() {
}
virtual void print(const std::string& str = "") const;
size_t getMaxIterations() const { return maxIterations; } size_t getMaxIterations() const { return maxIterations; }
double getRelativeErrorTol() const { return relativeErrorTol; } double getRelativeErrorTol() const { return relativeErrorTol; }
double getAbsoluteErrorTol() const { return absoluteErrorTol; } double getAbsoluteErrorTol() const { return absoluteErrorTol; }
@ -68,13 +62,33 @@ public:
static Verbosity verbosityTranslator(const std::string &s) ; static Verbosity verbosityTranslator(const std::string &s) ;
static std::string verbosityTranslator(Verbosity value) ; static std::string verbosityTranslator(Verbosity value) ;
/** Type for an optional user-provided hook to be called after each /** Type for an optional user-provided hook to be called after each
* internal optimizer iteration */ * internal optimizer iteration. See iterationHook below. */
using IterationHook = std::function< using IterationHook = std::function<
void(size_t /*iteration*/, double/*errorBefore*/, double/*errorAfter*/)>; void(size_t /*iteration*/, double/*errorBefore*/, double/*errorAfter*/)>;
/** Optional user-provided iteration hook to be called after each /** Optional user-provided iteration hook to be called after each
* optimization iteration (Default: empty) */ * optimization iteration (Default: none).
* Note that `IterationHook` is defined as a std::function<> with this
* signature:
* \code
* void(size_t iteration, double errorBefore, double errorAfter)
* \endcode
* which allows binding by means of a reference to a regular function:
* \code
* void foo(size_t iteration, double errorBefore, double errorAfter);
* // ...
* lmOpts.iterationHook = &foo;
* \endcode
* or to a C++11 lambda:
* \code
* lmOpts.iterationHook = [&](size_t iter, double oldError, double newError)
* {
* // ...
* };
* \endcode
* or to the result of a properly-formed `std::bind` call.
*/
IterationHook iterationHook; IterationHook iterationHook;
/** See NonlinearOptimizerParams::linearSolverType */ /** See NonlinearOptimizerParams::linearSolverType */
@ -91,6 +105,12 @@ public:
boost::optional<Ordering> ordering; ///< The optional variable elimination ordering, or empty to use COLAMD (default: empty) 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. IterativeOptimizationParameters::shared_ptr iterativeParams; ///< The container for iterativeOptimization parameters. used in CG Solvers.
NonlinearOptimizerParams() = default;
virtual ~NonlinearOptimizerParams() {
}
virtual void print(const std::string& str = "") const;
inline bool isMultifrontal() const { inline bool isMultifrontal() const {
return (linearSolverType == MULTIFRONTAL_CHOLESKY) return (linearSolverType == MULTIFRONTAL_CHOLESKY)
|| (linearSolverType == MULTIFRONTAL_QR); || (linearSolverType == MULTIFRONTAL_QR);