12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Removed references to the old nonlinear optimizer parameters from Matlab

release/4.3a0
Stephen Williams 2012-05-15 18:46:51 +00:00
parent f3ed18dfdc
commit 3dc3f93145
2 changed files with 4 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
examples/matlab/Pose2SLAMExample_advanced.m
View File

@ -55,10 +55,10 @@ initialEstimate.insertPose(x3, gtsamPose2(4.1, 0.1, 0.1));
initialEstimate.print('initial estimate'); initialEstimate.print('initial estimate');
%% set up solver, choose ordering and optimize %% set up solver, choose ordering and optimize
params = gtsamNonlinearOptimizationParameters_newDecreaseThresholds(1e-15, 1e-15); %params = gtsamNonlinearOptimizationParameters_newDecreaseThresholds(1e-15, 1e-15);
%
ord = graph.orderingCOLAMD(initialEstimate); %ord = graph.orderingCOLAMD(initialEstimate);
%
%result = pose2SLAMOptimizer(graph,initialEstimate,ord,params); %result = pose2SLAMOptimizer(graph,initialEstimate,ord,params);
%result.print('final result'); %result.print('final result');

21
gtsam.h
View File

@ -410,15 +410,6 @@ class Ordering {
void push_back(size_t key); void push_back(size_t key);
}; };
class NonlinearOptimizationParameters {
NonlinearOptimizationParameters(double absDecrease, double relDecrease,
double sumError, int iIters, double lambda, double lambdaFactor);
void print(string s) const;
static gtsam::NonlinearOptimizationParameters* newDecreaseThresholds(double absDecrease,
double relDecrease);
};
}///\namespace gtsam }///\namespace gtsam
//************************************************************************* //*************************************************************************
@ -464,12 +455,6 @@ class Odometry {
gtsam::GaussianFactor* linearize(const planarSLAM::Values& center, const gtsam::Ordering& ordering) const; gtsam::GaussianFactor* linearize(const planarSLAM::Values& center, const gtsam::Ordering& ordering) const;
}; };
class Optimizer {
Optimizer(planarSLAM::Graph* graph, planarSLAM::Values* values,
gtsam::Ordering* ordering, gtsam::NonlinearOptimizationParameters* parameters);
void print(string s) const;
};
}///\namespace planarSLAM }///\namespace planarSLAM
//************************************************************************* //*************************************************************************
@ -502,12 +487,6 @@ class Graph {
pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate); pose2SLAM::Values optimize(const pose2SLAM::Values& initialEstimate);
}; };
class Optimizer {
Optimizer(pose2SLAM::Graph* graph, pose2SLAM::Values* values,
gtsam::Ordering* ordering, gtsam::NonlinearOptimizationParameters* parameters);
void print(string s) const;
};
}///\namespace pose2SLAM }///\namespace pose2SLAM
//************************************************************************* //*************************************************************************