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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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70
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 max_diagonal_; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32)
LevenbergMarquardtParams() :
lambdaInitial(1e-4), lambdaFactor(2.0), lambdaUpperBound(1e5), lambdaLowerBound(
0.0), verbosityLM(SILENT), minModelFidelity(1e-3),
diagonalDamping(true), reuse_diagonal_(false), useFixedLambdaFactor_(true),
min_diagonal_(1e-6), max_diagonal_(1e32) {
}
virtual ~LevenbergMarquardtParams() {
}
LevenbergMarquardtParams()
: lambdaInitial(1e-5),
lambdaFactor(10.0),
lambdaUpperBound(1e5),
lambdaLowerBound(0.0),
verbosityLM(SILENT),
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;
inline double getlambdaInitial() const {
return lambdaInitial;
}
inline double getlambdaFactor() const {
return lambdaFactor;
}
inline double getlambdaUpperBound() const {
return lambdaUpperBound;
}
inline double getlambdaLowerBound() const {
return lambdaLowerBound;
}
inline double getlambdaInitial() const { return lambdaInitial; }
inline double getlambdaFactor() const { return lambdaFactor; }
inline double getlambdaUpperBound() const { return lambdaUpperBound; }
inline double getlambdaLowerBound() const { return lambdaLowerBound; }
inline std::string getVerbosityLM() const {
return verbosityLMTranslator(verbosityLM);
}
inline std::string getLogFile() const {
return logFile;
}
inline bool getDiagonalDamping() const {
return diagonalDamping;
}
inline std::string getLogFile() const { return logFile; }
inline bool getDiagonalDamping() const { return diagonalDamping; }
inline void setlambdaInitial(double value) {
lambdaInitial = value;
}
inline void setlambdaFactor(double value) {
lambdaFactor = value;
}
inline void setlambdaUpperBound(double value) {
lambdaUpperBound = value;
}
inline void setlambdaLowerBound(double value) {
lambdaLowerBound = value;
}
inline void setlambdaInitial(double value) { lambdaInitial = value; }
inline void setlambdaFactor(double value) { lambdaFactor = value; }
inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; }
inline void setlambdaLowerBound(double value) { lambdaLowerBound = value; }
inline void setVerbosityLM(const std::string& s) {
verbosityLM = verbosityLMTranslator(s);
}
inline void setLogFile(const std::string &s) {
logFile = s;
}
inline void setDiagonalDamping(bool flag) {
diagonalDamping = flag;
}
inline void setLogFile(const std::string& s) { logFile = s; }
inline void setDiagonalDamping(bool flag) { diagonalDamping = flag; }
inline void setUseFixedLambdaFactor(bool flag) {
useFixedLambdaFactor_ = flag;
}