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added lower bound for lambda

release/4.3a0
Luca 2014-01-27 10:29:20 -05:00
parent 5aa7d55691
commit 7656ce8b05
1 changed files with 8 additions and 1 deletions
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9
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
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@ -47,11 +47,12 @@ public:
double lambdaInitial; ///< The initial Levenberg-Marquardt damping term (default: 1e-5) 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 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)
VerbosityLM verbosityLM; ///< The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity VerbosityLM verbosityLM; ///< The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity
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]
LevenbergMarquardtParams() : LevenbergMarquardtParams() :
lambdaInitial(1e-5), lambdaFactor(10.0), lambdaUpperBound(1e5), verbosityLM( lambdaInitial(1e-5), lambdaFactor(10.0), lambdaUpperBound(1e5), lambdaLowerBound(0.0), verbosityLM(
SILENT) { SILENT) {
} }
virtual ~LevenbergMarquardtParams() { virtual ~LevenbergMarquardtParams() {
@ -68,6 +69,9 @@ public:
inline double getlambdaUpperBound() const { inline double getlambdaUpperBound() const {
return lambdaUpperBound; return lambdaUpperBound;
} }
inline double getlambdaLowerBound() const {
return lambdaLowerBound;
}
inline std::string getVerbosityLM() const { inline std::string getVerbosityLM() const {
return verbosityLMTranslator(verbosityLM); return verbosityLMTranslator(verbosityLM);
} }
@ -84,6 +88,9 @@ public:
inline void setlambdaUpperBound(double value) { inline void setlambdaUpperBound(double value) {
lambdaUpperBound = value; lambdaUpperBound = value;
} }
inline void setlambdaLowerBound(double value) {
lambdaLowerBound = value;
}
inline void setVerbosityLM(const std::string &s) { inline void setVerbosityLM(const std::string &s) {
verbosityLM = verbosityLMTranslator(s); verbosityLM = verbosityLMTranslator(s);
} }