iSAM
Properties.h
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00001 
00028 #pragma once
00029 
00030 namespace isam {
00031 
00032 enum Method {GAUSS_NEWTON, LEVENBERG_MARQUARDT, DOG_LEG};
00033 
00037 class Properties {
00038   // default copy constructor and assignment operator in use
00039 public:
00040 
00042   bool verbose;
00043 
00045   bool quiet;
00046 
00048   bool force_numerical_jacobian;
00049 
00051   Method method;
00052 
00055   double epsilon1;
00058   double epsilon2;
00061   double epsilon3;
00062 
00065   double epsilon_abs;
00069   double epsilon_rel;
00070 
00072   int max_iterations;
00074   double lm_lambda0;
00076   double lm_lambda_factor;
00077 
00079   int mod_update;
00081   int mod_batch;
00083   int mod_solve;
00084 
00085   // default parameters
00086   Properties() :
00087     verbose(false),
00088     quiet(false),
00089 
00090     force_numerical_jacobian(false),
00091 
00092     method(GAUSS_NEWTON),
00093 
00094     epsilon1(1e-2),
00095     epsilon2(1e-2),
00096     epsilon3(1e-2),
00097 
00098     epsilon_abs(1e-3),
00099     epsilon_rel(1e-5),
00100 
00101     max_iterations(500),
00102 
00103     lm_lambda0(1e-6),
00104     lm_lambda_factor(10.),
00105 
00106     mod_update(1),
00107     mod_batch(100),
00108     mod_solve(1)
00109   {}
00110 };
00111 
00112 }
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