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

fix typo in "newDrecreaseThresholds" in NonlinearOptimizationParams

release/4.3a0
Duy-Nguyen Ta 2012-02-05 23:00:57 +00:00
parent f4515d7b30
commit 71e757d2cf
6 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
examples/Pose2SLAMExample_advanced.cpp
View File

@ -68,7 +68,7 @@ int main(int argc, char** argv) {
Ordering::shared_ptr ordering = graph->orderingCOLAMD(*initial); Ordering::shared_ptr ordering = graph->orderingCOLAMD(*initial);
/* 4.2.2 set up solver and optimize */ /* 4.2.2 set up solver and optimize */
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDecreaseThresholds(1e-15, 1e-15);
Optimizer optimizer(graph, initial, ordering, params); Optimizer optimizer(graph, initial, ordering, params);
Optimizer optimizer_result = optimizer.levenbergMarquardt(); Optimizer optimizer_result = optimizer.levenbergMarquardt();

2
gtsam.h
View File

@ -389,7 +389,7 @@ class NonlinearOptimizationParameters {
NonlinearOptimizationParameters(double absDecrease, double relDecrease, NonlinearOptimizationParameters(double absDecrease, double relDecrease,
double sumError, int iIters, double lambda, double lambdaFactor); double sumError, int iIters, double lambda, double lambdaFactor);
void print(string s) const; void print(string s) const;
static gtsam::NonlinearOptimizationParameters* newDrecreaseThresholds(double absDecrease, static gtsam::NonlinearOptimizationParameters* newDecreaseThresholds(double absDecrease,
double relDecrease); double relDecrease);
}; };

2
gtsam/nonlinear/NonlinearOptimizationParameters.cpp
View File

@ -102,7 +102,7 @@ NonlinearOptimizationParameters::newLambda(double lambda) {
/* ************************************************************************* */ /* ************************************************************************* */
NonlinearOptimizationParameters::shared_ptr NonlinearOptimizationParameters::shared_ptr
NonlinearOptimizationParameters::newDrecreaseThresholds(double absDecrease, NonlinearOptimizationParameters::newDecreaseThresholds(double absDecrease,
double relDecrease) { double relDecrease) {
shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>()); shared_ptr ptr(boost::make_shared<NonlinearOptimizationParameters>());
ptr->absDecrease_ = absDecrease; ptr->absDecrease_ = absDecrease;

2
gtsam/nonlinear/NonlinearOptimizationParameters.h
View File

@ -110,7 +110,7 @@ namespace gtsam {
static shared_ptr newLambda(double lambda); static shared_ptr newLambda(double lambda);
/// a copy of old instance except new thresholds /// a copy of old instance except new thresholds
static shared_ptr newDrecreaseThresholds(double absDecrease, static shared_ptr newDecreaseThresholds(double absDecrease,
double relDecrease); double relDecrease);
/// a copy of old instance except new QR flag /// a copy of old instance except new QR flag

6
gtsam/slam/tests/testPose2SLAM.cpp
View File

@ -162,7 +162,7 @@ TEST(Pose2Graph, optimize) {
*ordering += "x0","x1"; *ordering += "x0","x1";
typedef NonlinearOptimizer<pose2SLAM::Graph> Optimizer; typedef NonlinearOptimizer<pose2SLAM::Graph> Optimizer;
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDecreaseThresholds(1e-15, 1e-15);
Optimizer optimizer0(fg, initial, ordering, params); Optimizer optimizer0(fg, initial, ordering, params);
Optimizer optimizer = optimizer0.levenbergMarquardt(); Optimizer optimizer = optimizer0.levenbergMarquardt();
@ -200,7 +200,7 @@ TEST(Pose2Graph, optimizeThreePoses) {
*ordering += "x0","x1","x2"; *ordering += "x0","x1","x2";
// optimize // optimize
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDecreaseThresholds(1e-15, 1e-15);
pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params); pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params);
pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt(); pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt();
@ -243,7 +243,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) {
*ordering += "x0","x1","x2","x3","x4","x5"; *ordering += "x0","x1","x2","x3","x4","x5";
// optimize // optimize
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDecreaseThresholds(1e-15, 1e-15);
pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params); pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params);
pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt(); pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt();

2
gtsam/slam/tests/testPose3SLAM.cpp
View File

@ -77,7 +77,7 @@ TEST(Pose3Graph, optimizeCircle) {
// Choose an ordering and optimize // Choose an ordering and optimize
shared_ptr<Ordering> ordering(new Ordering); shared_ptr<Ordering> ordering(new Ordering);
*ordering += "x0","x1","x2","x3","x4","x5"; *ordering += "x0","x1","x2","x3","x4","x5";
NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDecreaseThresholds(1e-15, 1e-15);
pose3SLAM::Optimizer optimizer0(fg, initial, ordering, params); pose3SLAM::Optimizer optimizer0(fg, initial, ordering, params);
pose3SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt(); pose3SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt();