optimization_algorithm_dogleg.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
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#ifndef G2O_OPTIMIZATION_ALGORITHM_DOGLEG_H
#define G2O_OPTIMIZATION_ALGORITHM_DOGLEG_H
 
#include <memory>
 
#include "g2o_core_api.h"
#include "optimization_algorithm_with_hessian.h"
 
namespace g2o {
 
class BlockSolverBase;

class G2O_CORE_API OptimizationAlgorithmDogleg
    : public OptimizationAlgorithmWithHessian {
 public:
  enum { STEP_UNDEFINED, STEP_SD, STEP_GN, STEP_DL };
 
 public:
  explicit OptimizationAlgorithmDogleg(std::unique_ptr<BlockSolverBase> solver);
  virtual ~OptimizationAlgorithmDogleg();
 
  virtual SolverResult solve(int iteration, bool online = false);
 
  virtual void printVerbose(std::ostream& os) const;

  int lastStep() const { return _lastStep; }
  double trustRegion() const { return _delta; }

  static const char* stepType2Str(int stepType);
 
 protected:
  // parameters
  Property<int>* _maxTrialsAfterFailure;
  Property<double>* _userDeltaInit;
  // damping to enforce positive definite matrix
  Property<double>* _initialLambda;
  Property<double>* _lamdbaFactor;
 
  VectorX _hsd;        
  VectorX _hdl;        
  VectorX _auxVector;  
 
  double
      _currentLambda;  
  double _delta;       
  int _lastStep;       
  bool _wasPDInAllIterations;  
  int _lastNumTries;
 
 private:
  std::unique_ptr<BlockSolverBase> m_solver;
};
 
}  // namespace g2o
 
#endif