100 lines
2.7 KiB
C++
100 lines
2.7 KiB
C++
/*
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* NonlinearOptimizationParameters.h
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*
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* Created on: Oct 14, 2010
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* Author: nikai
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* Description:
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*/
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#pragma once
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#include <boost/shared_ptr.hpp>
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#include <boost/make_shared.hpp>
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namespace gtsam {
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// a container for all related parameters
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struct NonlinearOptimizationParameters {
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typedef enum {
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SILENT,
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ERROR,
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LAMBDA,
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TRYLAMBDA,
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VALUES,
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DELTA,
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TRYCONFIG,
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TRYDELTA,
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LINEAR,
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DAMPED
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} verbosityLevel;
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typedef enum {
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FAST,
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BOUNDED,
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CAUTIOUS
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} LambdaMode;
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double absDecrease_; /* threshold for the absolute decrease per iteration */
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double relDecrease_; /* threshold for the relative decrease per iteration */
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double sumError_; /* threshold for the sum of error */
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int maxIterations_ ;
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double lambda_ ;
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double lambdaFactor_ ;
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verbosityLevel verbosity_;
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LambdaMode lambdaMode_;
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typedef NonlinearOptimizationParameters This;
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typedef boost::shared_ptr<NonlinearOptimizationParameters> sharedThis ;
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NonlinearOptimizationParameters(): absDecrease_(1), relDecrease_(1e-3), sumError_(0.0),
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maxIterations_(100), lambda_(1e-5), lambdaFactor_(10.0), verbosity_(ERROR), lambdaMode_(BOUNDED){}
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NonlinearOptimizationParameters(double absDecrease, double relDecrease, double sumError,
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int iIters = 100, double lambda = 1e-5, double lambdaFactor = 10, verbosityLevel v = ERROR, LambdaMode lambdaMode = BOUNDED)
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:absDecrease_(absDecrease), relDecrease_(relDecrease), sumError_(sumError),
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maxIterations_(iIters), lambda_(lambda), lambdaFactor_(lambdaFactor), verbosity_(v), lambdaMode_(lambdaMode){}
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NonlinearOptimizationParameters(const NonlinearOptimizationParameters ¶meters):
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absDecrease_(parameters.absDecrease_),
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relDecrease_(parameters.relDecrease_),
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sumError_(parameters.sumError_),
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maxIterations_(parameters.maxIterations_),
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lambda_(parameters.lambda_),
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lambdaFactor_(parameters.lambdaFactor_),
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verbosity_(parameters.verbosity_), lambdaMode_(parameters.lambdaMode_){}
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sharedThis newVerbosity_(verbosityLevel verbosity) const {
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sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>(*this)) ;
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ptr->verbosity_ = verbosity ;
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return ptr ;
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}
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sharedThis newLambda_(double lambda) const {
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sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>(*this)) ;
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ptr->lambda_ = lambda ;
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return ptr ;
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}
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sharedThis newMaxIterations_(int maxIterations) const {
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sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>(*this)) ;
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ptr->maxIterations_ = maxIterations ;
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return ptr ;
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}
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static sharedThis newLambda(double lambda) {
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sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>());
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ptr->lambda_ = lambda ;
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return ptr ;
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}
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};
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}
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