Fixed NonlinearOptimizer to return a shared pointer to a config
parent
5e1c719c17
commit
65df85125d
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@ -87,6 +87,13 @@ namespace gtsam {
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return lambda_;
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}
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/**
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* Return the config
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*/
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NonlinearOptimizer::shared_config config() const {
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return config_;
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}
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/**
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* linearize and optimize
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* Thi returns an FGConfig, i.e., vectors in tangent space of Config
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@ -91,7 +91,7 @@ TEST( NonlinearFactorGraph, iterateLM )
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// LM iterate with lambda 0 should be the same
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Optimizer iterated2 = optimizer.iterateLM();
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CHECK(assert_equal(iterated1.config(), iterated2.config(), 1e-9));
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CHECK(assert_equal(*(iterated1.config()), *(iterated2.config()), 1e-9));
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}
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/* ************************************************************************* */
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@ -123,12 +123,12 @@ TEST( NonlinearFactorGraph, optimize )
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// Gauss-Newton
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Optimizer actual1 = optimizer.gaussNewton(relativeThreshold,
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absoluteThreshold);
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CHECK(assert_equal(actual1.config(),cstar));
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CHECK(assert_equal(*(actual1.config()),cstar));
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// Levenberg-Marquardt
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Optimizer actual2 = optimizer.levenbergMarquardt(relativeThreshold,
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absoluteThreshold, Optimizer::SILENT);
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CHECK(assert_equal(actual2.config(),cstar));
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CHECK(assert_equal(*(actual2.config()),cstar));
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}
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/* ************************************************************************* */
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