Detailed Description

Parameters for Levenberg-Marquardt optimization.

Note that this parameters class inherits from NonlinearOptimizerParams, which specifies the parameters common to all nonlinear optimization algorithms. This class also contains all of those parameters.

Inheritance diagram for gtsam::LevenbergMarquardtParams:

Public Member Functions
virtual void	print (const std::string &str="") const

double	getlambdaInitial () const

double	getlambdaFactor () const

double	getlambdaUpperBound () const

double	getlambdaLowerBound () const

std::string	getVerbosityLM () const

std::string	getLogFile () const

bool	getDiagonalDamping () const

void	setlambdaInitial (double value)

void	setlambdaFactor (double value)

void	setlambdaUpperBound (double value)

void	setlambdaLowerBound (double value)

void	setVerbosityLM (const std::string &s)

void	setLogFile (const std::string &s)

void	setDiagonalDamping (bool flag)

void	setUseFixedLambdaFactor (bool flag)

Public Member Functions inherited from gtsam::NonlinearOptimizerParams
int	getMaxIterations () const

double	getRelativeErrorTol () const

double	getAbsoluteErrorTol () const

double	getErrorTol () const

std::string	getVerbosity () const

void	setMaxIterations (int value)

void	setRelativeErrorTol (double value)

void	setAbsoluteErrorTol (double value)

void	setErrorTol (double value)

void	setVerbosity (const std::string &src)

bool	isMultifrontal () const

bool	isSequential () const

bool	isCholmod () const

bool	isIterative () const

GaussianFactorGraph::Eliminate	getEliminationFunction () const

std::string	getLinearSolverType () const

void	setLinearSolverType (const std::string &solver)

void	setIterativeParams (const boost::shared_ptr< IterativeOptimizationParameters > params)

void	setOrdering (const Ordering &ordering)

Static Public Member Functions
static VerbosityLM	verbosityLMTranslator (const std::string &s)

static std::string	verbosityLMTranslator (VerbosityLM value)

Static Public Member Functions inherited from gtsam::NonlinearOptimizerParams
static Verbosity	verbosityTranslator (const std::string &s)

static std::string	verbosityTranslator (Verbosity value)

Public Attributes
double	lambdaInitial
	The initial Levenberg-Marquardt damping term (default: 1e-5)

double	lambdaFactor
	The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0)

double	lambdaUpperBound
	The maximum lambda to try before assuming the optimization has failed (default: 1e5)

double	lambdaLowerBound
	The minimum lambda used in LM (default: 0)

VerbosityLM	verbosityLM
	The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity.

double	minModelFidelity
	Lower bound for the modelFidelity to accept the result of an LM iteration.

std::string	logFile
	an optional CSV log file, with [iteration, time, error, labda]

bool	diagonalDamping
	if true, use diagonal of Hessian

bool	reuse_diagonal_
	an additional option in Ceres for diagonalDamping (related to efficiency)

bool	useFixedLambdaFactor_
	if true applies constant increase (or decrease) to lambda according to lambdaFactor

double	min_diagonal_
	when using diagonal damping saturates the minimum diagonal entries (default: 1e-6)

double	max_diagonal_
	when using diagonal damping saturates the maximum diagonal entries (default: 1e32)

Public Attributes inherited from gtsam::NonlinearOptimizerParams
int	maxIterations
	The maximum iterations to stop iterating (default 100)

double	relativeErrorTol
	The maximum relative error decrease to stop iterating (default 1e-5)

double	absoluteErrorTol
	The maximum absolute error decrease to stop iterating (default 1e-5)

double	errorTol
	The maximum total error to stop iterating (default 0.0)

Verbosity	verbosity
	The printing verbosity during optimization (default SILENT)

LinearSolverType	linearSolverType
	The type of linear solver to use in the nonlinear optimizer.

boost::optional< Ordering >	ordering
	The variable elimination ordering, or empty to use COLAMD (default: empty)

IterativeOptimizationParameters::shared_ptr	iterativeParams
	The container for iterativeOptimization parameters. used in CG Solvers.

Public Types
enum	VerbosityLM { SILENT = 0, TERMINATION, LAMBDA, TRYLAMBDA, TRYCONFIG, DAMPED, TRYDELTA }
	See LevenbergMarquardtParams::lmVerbosity.

Public Types inherited from gtsam::NonlinearOptimizerParams
enum	Verbosity { SILENT, TERMINATION, ERROR, VALUES, DELTA, LINEAR }
	See NonlinearOptimizerParams::verbosity.

enum	LinearSolverType { MULTIFRONTAL_CHOLESKY, MULTIFRONTAL_QR, SEQUENTIAL_CHOLESKY, SEQUENTIAL_QR, Iterative, CHOLMOD }
	See NonlinearOptimizerParams::linearSolverType.

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

/home/cbeall3/git/gtsam/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
/home/cbeall3/git/gtsam/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Public Types