optimization_algorithm_levenberg.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
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//
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#ifndef G2O_SOLVER_LEVENBERG_H
#define G2O_SOLVER_LEVENBERG_H
 
#include <memory>
 
#include "g2o_core_api.h"
#include "optimization_algorithm_with_hessian.h"
 
namespace g2o {

class G2O_CORE_API OptimizationAlgorithmLevenberg
    : public OptimizationAlgorithmWithHessian {
 public:
  explicit OptimizationAlgorithmLevenberg(std::unique_ptr<Solver> solver);
  virtual ~OptimizationAlgorithmLevenberg();
 
  virtual SolverResult solve(int iteration, bool online = false);
 
  virtual void printVerbose(std::ostream& os) const;

  double currentLambda() const { return _currentLambda; }

  void setMaxTrialsAfterFailure(int max_trials);

  int maxTrialsAfterFailure() const { return _maxTrialsAfterFailure->value(); }

  double userLambdaInit() { return _userLambdaInit->value(); }
  void setUserLambdaInit(double lambda);

  int levenbergIteration() { return _levenbergIterations; }
 
 protected:
  // Levenberg parameters
  Property<int>* _maxTrialsAfterFailure;
  Property<double>* _userLambdaInit;
  double _currentLambda;
  double _tau;
  double _goodStepLowerScale;  
  double _goodStepUpperScale;  
  double _ni;
  int _levenbergIterations;  

  double computeLambdaInit() const;
  double computeScale() const;
 
 private:
  std::unique_ptr<Solver> m_solver;
};
 
}  // namespace g2o
 
#endif