g2o::SparseOptimizerTerminateAction Class Reference

stop iterating based on the gain which is (oldChi - currentChi) / currentChi. More...

#include <sparse_optimizer_terminate_action.h>

Inheritance diagram for g2o::SparseOptimizerTerminateAction:

Collaboration diagram for g2o::SparseOptimizerTerminateAction:

Public Member Functions
	SparseOptimizerTerminateAction ()
virtual HyperGraphAction *	operator() (const HyperGraph *graph, Parameters *parameters=0)
double	gainThreshold () const
void	setGainThreshold (double gainThreshold)
int	maxIterations () const
void	setMaxIterations (int maxit)
Public Member Functions inherited from g2o::HyperGraphAction
virtual	~HyperGraphAction ()

Protected Member Functions
void	setOptimizerStopFlag (const SparseOptimizer *optimizer, bool stop)

Protected Attributes
double	_gainThreshold
double	_lastChi
bool	_auxTerminateFlag
int	_maxIterations

Detailed Description

stop iterating based on the gain which is (oldChi - currentChi) / currentChi.

stop iterating based on the gain which is (oldChi - currentChi) / currentChi. If the gain is larger than zero and below the threshold, then the optimizer is stopped. Typically usage of this action includes adding it as a postIteration action, by calling addPostIterationAction on a sparse optimizer.

Definition at line 47 of file sparse_optimizer_terminate_action.h.

Constructor & Destructor Documentation

SparseOptimizerTerminateAction()

g2o::SparseOptimizerTerminateAction::SparseOptimizerTerminateAction

(

)

Definition at line 36 of file sparse_optimizer_terminate_action.cpp.

References _auxTerminateFlag, _gainThreshold, _lastChi, _maxIterations, and g2o::cst().

Member Function Documentation

gainThreshold()

double g2o::SparseOptimizerTerminateAction::gainThreshold ( ) const

inline

Definition at line 53 of file sparse_optimizer_terminate_action.h.

References _gainThreshold.

Referenced by setGainThreshold().

maxIterations()

int g2o::SparseOptimizerTerminateAction::maxIterations ( ) const

inline

Definition at line 56 of file sparse_optimizer_terminate_action.h.

References _maxIterations.

operator()()

HyperGraphAction * g2o::SparseOptimizerTerminateAction::operator() ( const HyperGraph * graph, Parameters * parameters = 0 )

virtual

re-implement to carry out an action given the graph

Reimplemented from g2o::HyperGraphAction.

Definition at line 47 of file sparse_optimizer_terminate_action.cpp.

References _gainThreshold, _lastChi, _maxIterations, g2o::SparseOptimizer::activeRobustChi2(), g2o::HyperGraphAction::ParametersIteration::iteration, and setOptimizerStopFlag().

setGainThreshold()

void g2o::SparseOptimizerTerminateAction::setGainThreshold

(

double

gainThreshold

)

Definition at line 43 of file sparse_optimizer_terminate_action.cpp.

References _gainThreshold, and gainThreshold().

Referenced by main().

setMaxIterations()

void g2o::SparseOptimizerTerminateAction::setMaxIterations

(

int

maxit

)

Definition at line 86 of file sparse_optimizer_terminate_action.cpp.

References _maxIterations.

Referenced by main().

setOptimizerStopFlag()

void g2o::SparseOptimizerTerminateAction::setOptimizerStopFlag ( const SparseOptimizer * optimizer, bool stop )

protected

Definition at line 90 of file sparse_optimizer_terminate_action.cpp.

References _auxTerminateFlag, and g2o::SparseOptimizer::forceStopFlag().

Referenced by operator()().

Member Data Documentation

_auxTerminateFlag

bool g2o::SparseOptimizerTerminateAction::_auxTerminateFlag

protected

Definition at line 62 of file sparse_optimizer_terminate_action.h.

Referenced by setOptimizerStopFlag(), and SparseOptimizerTerminateAction().

_gainThreshold

double g2o::SparseOptimizerTerminateAction::_gainThreshold

protected

Definition at line 60 of file sparse_optimizer_terminate_action.h.

Referenced by gainThreshold(), operator()(), setGainThreshold(), and SparseOptimizerTerminateAction().

_lastChi

double g2o::SparseOptimizerTerminateAction::_lastChi

protected

Definition at line 61 of file sparse_optimizer_terminate_action.h.

Referenced by operator()(), and SparseOptimizerTerminateAction().

_maxIterations

int g2o::SparseOptimizerTerminateAction::_maxIterations

protected

Definition at line 63 of file sparse_optimizer_terminate_action.h.

Referenced by maxIterations(), operator()(), setMaxIterations(), and SparseOptimizerTerminateAction().

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The documentation for this class was generated from the following files:

• /build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer_terminate_action.h
• /build/reproducible-path/g2o-0~20230806/g2o/core/sparse_optimizer_terminate_action.cpp