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Fixed comments, added TODO

release/4.3a0
Frank Dellaert 2015-06-11 14:09:00 -07:00
parent e140538a48
commit 29c2b47ace
1 changed files with 2 additions and 2 deletions
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gtsam/nonlinear/LevenbergMarquardtOptimizer.h
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@ -46,7 +46,7 @@ public:
public: public:
double lambdaInitial; ///< The initial Levenberg-Marquardt damping term (default: 1e-5) double lambdaInitial; ///< The initial Levenberg-Marquardt damping term (default: 1e-4)
double lambdaFactor; ///< The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0) 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 lambdaUpperBound; ///< The maximum lambda to try before assuming the optimization has failed (default: 1e5)
double lambdaLowerBound; ///< The minimum lambda used in LM (default: 0) double lambdaLowerBound; ///< The minimum lambda used in LM (default: 0)
@ -54,7 +54,7 @@ public:
double minModelFidelity; ///< Lower bound for the modelFidelity to accept the result of an LM iteration 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] std::string logFile; ///< an optional CSV log file, with [iteration, time, error, labda]
bool diagonalDamping; ///< if true, use diagonal of Hessian bool diagonalDamping; ///< if true, use diagonal of Hessian
bool reuse_diagonal_; ///< an additional option in Ceres for diagonalDamping (related to efficiency) bool reuse_diagonal_; ///< an additional option in Ceres for diagonalDamping (TODO: should be in state?)
bool useFixedLambdaFactor_; ///< if true applies constant increase (or decrease) to lambda according to lambdaFactor 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 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) double max_diagonal_; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32)