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Restored defaults (test failed)

release/4.3a0
Frank Dellaert 2015-06-11 23:11:24 -07:00
parent 5f41529fff
commit f89ffdc81c
1 changed files with 26 additions and 46 deletions
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72
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
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@ -59,60 +59,40 @@ public:
double min_diagonal_; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) double min_diagonal_; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6)
double max_diagonal_; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) double max_diagonal_; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32)
LevenbergMarquardtParams() : LevenbergMarquardtParams()
lambdaInitial(1e-4), lambdaFactor(2.0), lambdaUpperBound(1e5), lambdaLowerBound( : lambdaInitial(1e-5),
0.0), verbosityLM(SILENT), minModelFidelity(1e-3), lambdaFactor(10.0),
diagonalDamping(true), reuse_diagonal_(false), useFixedLambdaFactor_(true), lambdaUpperBound(1e5),
min_diagonal_(1e-6), max_diagonal_(1e32) { lambdaLowerBound(0.0),
} verbosityLM(SILENT),
virtual ~LevenbergMarquardtParams() { minModelFidelity(1e-3),
} diagonalDamping(false),
reuse_diagonal_(false),
useFixedLambdaFactor_(true),
min_diagonal_(1e-6),
max_diagonal_(1e32) {}
virtual ~LevenbergMarquardtParams() {}
virtual void print(const std::string& str = "") const; virtual void print(const std::string& str = "") const;
inline double getlambdaInitial() const { return lambdaInitial; }
inline double getlambdaInitial() const { inline double getlambdaFactor() const { return lambdaFactor; }
return lambdaInitial; inline double getlambdaUpperBound() const { return lambdaUpperBound; }
} inline double getlambdaLowerBound() const { return lambdaLowerBound; }
inline double getlambdaFactor() const {
return lambdaFactor;
}
inline double getlambdaUpperBound() const {
return lambdaUpperBound;
}
inline double getlambdaLowerBound() const {
return lambdaLowerBound;
}
inline std::string getVerbosityLM() const { inline std::string getVerbosityLM() const {
return verbosityLMTranslator(verbosityLM); return verbosityLMTranslator(verbosityLM);
} }
inline std::string getLogFile() const { inline std::string getLogFile() const { return logFile; }
return logFile; inline bool getDiagonalDamping() const { return diagonalDamping; }
}
inline bool getDiagonalDamping() const {
return diagonalDamping;
}
inline void setlambdaInitial(double value) { inline void setlambdaInitial(double value) { lambdaInitial = value; }
lambdaInitial = value; inline void setlambdaFactor(double value) { lambdaFactor = value; }
} inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; }
inline void setlambdaFactor(double value) { inline void setlambdaLowerBound(double value) { lambdaLowerBound = value; }
lambdaFactor = value; inline void setVerbosityLM(const std::string& s) {
}
inline void setlambdaUpperBound(double value) {
lambdaUpperBound = value;
}
inline void setlambdaLowerBound(double value) {
lambdaLowerBound = value;
}
inline void setVerbosityLM(const std::string &s) {
verbosityLM = verbosityLMTranslator(s); verbosityLM = verbosityLMTranslator(s);
} }
inline void setLogFile(const std::string &s) { inline void setLogFile(const std::string& s) { logFile = s; }
logFile = s; inline void setDiagonalDamping(bool flag) { diagonalDamping = flag; }
}
inline void setDiagonalDamping(bool flag) {
diagonalDamping = flag;
}
inline void setUseFixedLambdaFactor(bool flag) { inline void setUseFixedLambdaFactor(bool flag) {
useFixedLambdaFactor_ = flag; useFixedLambdaFactor_ = flag;
} }