1 #ifndef MTF_ESM_PARAMS_H 2 #define MTF_ESM_PARAMS_H 4 #include "mtf/Macros/common.h" 5 #include "mtf/Utilities/spiUtils.h" 13 enum class JacType{ Original, DiffOfJacs };
15 InitialSelf, CurrentSelf, SumOfSelf,
16 Original, SumOfStd, Std
18 typedef utils::spi::Types SPIType;
19 typedef utils::spi::ParamsType SPIParamsType;
31 double lm_delta_update;
36 SPIParamsType spi_params;
42 ESMParams(
int _max_iters,
double _epsilon,
43 JacType _jac_type, HessType _hess_type,
bool _sec_ord_hess,
44 bool _chained_warp,
bool _leven_marq,
double _lm_delta_init,
45 double _lm_delta_update,
bool _enable_learning,
46 SPIType spi_type,
const SPIParamsType &_spi_params,
bool _debug_mode);
49 static const char* toString(JacType _jac_type);
50 static const char* toString(HessType _hess_type);
51 static const char* toString(SPIType spi_type);
Definition: ESMParams.h:11
ESMParams(int _max_iters, double _epsilon, JacType _jac_type, HessType _hess_type, bool _sec_ord_hess, bool _chained_warp, bool _leven_marq, double _lm_delta_init, double _lm_delta_update, bool _enable_learning, SPIType spi_type, const SPIParamsType &_spi_params, bool _debug_mode)
decides whether logging data will be printed for debugging purposes;
JacType jac_type
maximum L1 norm of the state update vector at which to stop the iterations
Definition: ESMParams.h:24
double epsilon
maximum iterations of the ESM algorithm to run for each frame
Definition: ESMParams.h:22