107 lines
3.2 KiB
C++
107 lines
3.2 KiB
C++
/*
|
|
* NonlinearOptimizationParameters.h
|
|
*
|
|
* Created on: Oct 14, 2010
|
|
* Author: nikai
|
|
* Description:
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <boost/shared_ptr.hpp>
|
|
#include <boost/make_shared.hpp>
|
|
|
|
namespace gtsam {
|
|
|
|
// a container for all related parameters
|
|
struct NonlinearOptimizationParameters {
|
|
|
|
typedef boost::shared_ptr<NonlinearOptimizationParameters> shared_ptr ;
|
|
typedef NonlinearOptimizationParameters This;
|
|
typedef boost::shared_ptr<NonlinearOptimizationParameters> sharedThis ;
|
|
|
|
|
|
typedef enum {
|
|
SILENT,
|
|
ERROR,
|
|
LAMBDA,
|
|
TRYLAMBDA,
|
|
VALUES,
|
|
DELTA,
|
|
TRYCONFIG,
|
|
TRYDELTA,
|
|
LINEAR,
|
|
DAMPED
|
|
} verbosityLevel;
|
|
|
|
typedef enum {
|
|
FAST,
|
|
BOUNDED,
|
|
CAUTIOUS
|
|
} LambdaMode;
|
|
|
|
double absDecrease_; /* threshold for the absolute decrease per iteration */
|
|
double relDecrease_; /* threshold for the relative decrease per iteration */
|
|
double sumError_; /* threshold for the sum of error */
|
|
size_t maxIterations_ ;
|
|
double lambda_ ;
|
|
double lambdaFactor_ ;
|
|
verbosityLevel verbosity_;
|
|
LambdaMode lambdaMode_;
|
|
|
|
NonlinearOptimizationParameters(): absDecrease_(1e-6), relDecrease_(1e-6), sumError_(0.0),
|
|
maxIterations_(100), lambda_(1e-5), lambdaFactor_(10.0), verbosity_(SILENT), lambdaMode_(BOUNDED){}
|
|
|
|
NonlinearOptimizationParameters(double absDecrease, double relDecrease, double sumError,
|
|
int iIters = 100, double lambda = 1e-5, double lambdaFactor = 10, verbosityLevel v = SILENT, LambdaMode lambdaMode = BOUNDED)
|
|
:absDecrease_(absDecrease), relDecrease_(relDecrease), sumError_(sumError),
|
|
maxIterations_(iIters), lambda_(lambda), lambdaFactor_(lambdaFactor), verbosity_(v), lambdaMode_(lambdaMode){}
|
|
|
|
NonlinearOptimizationParameters(const NonlinearOptimizationParameters ¶meters):
|
|
absDecrease_(parameters.absDecrease_),
|
|
relDecrease_(parameters.relDecrease_),
|
|
sumError_(parameters.sumError_),
|
|
maxIterations_(parameters.maxIterations_),
|
|
lambda_(parameters.lambda_),
|
|
lambdaFactor_(parameters.lambdaFactor_),
|
|
verbosity_(parameters.verbosity_), lambdaMode_(parameters.lambdaMode_){}
|
|
|
|
|
|
/* a copy of old instance except some parameters */
|
|
sharedThis newLambda_(double lambda) const {
|
|
sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>(*this)) ;
|
|
ptr->lambda_ = lambda ;
|
|
return ptr ;
|
|
}
|
|
|
|
|
|
|
|
// static
|
|
/* new instance with default parameters except some partially assigned parameters */
|
|
static sharedThis newVerbosity(verbosityLevel verbosity) {
|
|
sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>()) ;
|
|
ptr->verbosity_ = verbosity ;
|
|
return ptr ;
|
|
}
|
|
|
|
static sharedThis newMaxIterations(int maxIterations) {
|
|
sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>()) ;
|
|
ptr->maxIterations_ = maxIterations ;
|
|
return ptr ;
|
|
}
|
|
|
|
static sharedThis newLambda(double lambda) {
|
|
sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>());
|
|
ptr->lambda_ = lambda ;
|
|
return ptr ;
|
|
}
|
|
|
|
static sharedThis newDrecreaseThresholds(double absDecrease, double relDecrease) {
|
|
sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>());
|
|
ptr->absDecrease_ = absDecrease;
|
|
ptr->relDecrease_ = relDecrease;
|
|
return ptr ;
|
|
}
|
|
};
|
|
}
|