MTF
IALKParams.h
1 #ifndef MTF_IALK_PARAMS_H
2 #define MTF_IALK_PARAMS_H
3 
4 #include "mtf/Macros/common.h"
5 
6 _MTF_BEGIN_NAMESPACE
7 
8 struct IALKParams{
9  enum class HessType{ InitialSelf, CurrentSelf, Std };
10  int max_iters;
11  double epsilon;
12  HessType hess_type;
13  bool sec_ord_hess;
14  bool leven_marq;
15  double lm_delta_init;
16  double lm_delta_update;
17  bool debug_mode;
18 
20  IALKParams(int _max_iters, double _epsilon,
21  HessType _hess_type, bool _sec_ord_hess,
22  bool _leven_marq, double _lm_delta_init,
23  double _lm_delta_update, bool _debug_mode);
24  IALKParams(const IALKParams *params = nullptr);
25 
26  static const char* toString(HessType hess_type);
27 
28 };
29 
30 _MTF_END_NAMESPACE
31 
32 #endif
33 
Definition: IALKParams.h:8
HessType hess_type
maximum L1 norm of the state update vector at which to stop the iterations
Definition: IALKParams.h:12
IALKParams(int _max_iters, double _epsilon, HessType _hess_type, bool _sec_ord_hess, bool _leven_marq, double _lm_delta_init, double _lm_delta_update, bool _debug_mode)
decides whether logging data will be printed for debugging purposes;
double epsilon
maximum iterations of the IALK algorithm to run for each frame
Definition: IALKParams.h:11