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Moved private/protected back to front of classes. Added print.

release/4.3a0
Frank Dellaert 2012-08-04 19:46:47 +00:00
parent f080d34dc0
commit e9de9f3242
1 changed files with 41 additions and 30 deletions
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71
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
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@ -30,6 +30,7 @@ class LevenbergMarquardtOptimizer;
* all of those parameters.
*/
class LevenbergMarquardtParams : public SuccessiveLinearizationParams {
public:
/** See LevenbergMarquardtParams::lmVerbosity */
enum VerbosityLM {
@ -41,6 +42,12 @@ public:
DAMPED
};
private:
VerbosityLM verbosityLMTranslator(const std::string &s) const;
std::string verbosityLMTranslator(VerbosityLM value) const;
public:
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 lambdaUpperBound; ///< The maximum lambda to try before assuming the optimization has failed (default: 1e5)
@ -60,16 +67,20 @@ public:
inline void setlambdaFactor(double value) { lambdaFactor = value; }
inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; }
inline void setVerbosityLM(const std::string &s) { verbosityLM = verbosityLMTranslator(s); }
private:
VerbosityLM verbosityLMTranslator(const std::string &s) const;
std::string verbosityLMTranslator(VerbosityLM value) const;
};
/**
* State for LevenbergMarquardtOptimizer
*/
class LevenbergMarquardtState : public NonlinearOptimizerState {
protected:
LevenbergMarquardtState(const NonlinearFactorGraph& graph, const Values& initialValues, const LevenbergMarquardtParams& params, unsigned int iterations = 0) :
NonlinearOptimizerState(graph, initialValues, iterations), lambda(params.lambdaInitial) {}
friend class LevenbergMarquardtOptimizer;
public:
double lambda;
@ -77,12 +88,6 @@ public:
LevenbergMarquardtState() {}
virtual ~LevenbergMarquardtState() {}
protected:
LevenbergMarquardtState(const NonlinearFactorGraph& graph, const Values& initialValues, const LevenbergMarquardtParams& params, unsigned int iterations = 0) :
NonlinearOptimizerState(graph, initialValues, iterations), lambda(params.lambdaInitial) {}
friend class LevenbergMarquardtOptimizer;
};
/**
@ -90,6 +95,25 @@ protected:
*/
class LevenbergMarquardtOptimizer : public NonlinearOptimizer {
protected:
LevenbergMarquardtParams params_; ///< LM parameters
LevenbergMarquardtState state_; ///< optimization state
std::vector<size_t> dimensions_; ///< undocumented
/** Access the parameters (base class version) */
virtual const NonlinearOptimizerParams& _params() const { return params_; }
/** Access the state (base class version) */
virtual const NonlinearOptimizerState& _state() const { return state_; }
/** Internal function for computing a COLAMD ordering if no ordering is specified */
LevenbergMarquardtParams ensureHasOrdering(LevenbergMarquardtParams params, const NonlinearFactorGraph& graph, const Values& values) const {
if(!params.ordering)
params.ordering = *graph.orderingCOLAMD(values);
return params;
}
public:
typedef boost::shared_ptr<LevenbergMarquardtOptimizer> shared_ptr;
@ -122,9 +146,15 @@ public:
params_.ordering = ordering;
state_ = LevenbergMarquardtState(graph, initialValues, params_); }
/** Access the current damping value */
/// Access the current damping value
double lambda() const { return state_.lambda; }
/// print
virtual void print(const std::string& str = "") const {
std::cout << str << "LevenbergMarquardtOptimizer" << std::endl;
this->params_.print(" parameters:\n");
}
/// @}
/// @name Advanced interface
@ -146,25 +176,6 @@ public:
const LevenbergMarquardtState& state() const { return state_; }
/// @}
protected:
LevenbergMarquardtParams params_;
LevenbergMarquardtState state_;
std::vector<size_t> dimensions_;
/** Access the parameters (base class version) */
virtual const NonlinearOptimizerParams& _params() const { return params_; }
/** Access the state (base class version) */
virtual const NonlinearOptimizerState& _state() const { return state_; }
/** Internal function for computing a COLAMD ordering if no ordering is specified */
LevenbergMarquardtParams ensureHasOrdering(LevenbergMarquardtParams params, const NonlinearFactorGraph& graph, const Values& values) const {
if(!params.ordering)
params.ordering = *graph.orderingCOLAMD(values);
return params;
}
};
}