template class mrpt::graphslam::optimizers::CLevMarqGSO¶

Levenberg-Marquardt non-linear graph slam optimization scheme.

Current decider optimizes the graph according to the graphslam::optimize_spa_levmarq method. Refer to the latter for more details on the implementation.

class_verbosity
- Section : OptimizerParameters
- Default value : 1 (mrpt::system::LVL_INFO)
- Required : FALSE
optimization_on_second_thread
- Section : OptimizerParameters
- Default value : FALSE
- Required : FALSE
- Description : Specify whether to use a second thread to optimize the graph.
LC_min_nodeid_diff
- Section : GeneralConfiguration
- Default value : 30
- Required : FALSE
- Description : Minimum NodeID difference for an edge to be considered a loop closure.
optimization_distance
- Section : OptimizerParameters
- Default value : 5
- Required : FALSE
- Description : Positions of the nodes within the specified distance from the current graph node are optimized according to the corresponding constraints between them
verbose
- Section : OptimizerParameters
- Default value : FALSE
- Required : FALSE
- Description : Refers to the Levenberg-Marquardt optimization. procedure
profiler
- Section : OptimizerParameters
- Default value : FALSE
- Required : FALSE
- Description : Refers to the Levenberg-Marquardt optimization. procedure
max_iterations
- Section : OptimizerParameters
- Default value : 100
- Required : FALSE
- Description : Refers to the Levenberg-Marquardt optimization. Sets the maximum number of iterations of the optimization scheme.
scale_hessian
- Section : OptimizerParameters
- Default value : 0.2
- Required : FALSE
- Description : Refers to the Levenberg-Marquardt optimization.
tau
- Section : OptimizerParameters
- Default value : 1e-3
- Required : FALSE
- Description : Refers to the Levenberg-Marquardt optimization.
For a detailed description of the optimization parameters of the Levenberg-Marquardt scheme, refer to

https://reference.mrpt.org/devel/group__mrpt__graphslam__grp.html#ga022f4a70be5ec7c432f46374e4bb9d66

For a detailed description of the graph visualization parameters refer to

https://reference.mrpt.org/devel/group__mrpt__opengl__grp.html#ga30efc9f6fcb49801e989d174e0f65a61

#include <mrpt/graphslam/GSO/CLevMarqGSO.h>

template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CLevMarqGSO: public mrpt::graphslam::optimizers::CGraphSlamOptimizer
{
public:
    // typedefs

    typedef typename GRAPH_T::constraint_t constraint_t;
    typedef typename GRAPH_T::constraint_t::type_value pose_t;
    typedef mrpt::math::CMatrixFixed<double, constraint_t::state_length, constraint_t::state_length> InfMat;
    typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> grandpa;
    typedef mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_T> parent;

    // structs

    struct GraphVisualizationParams;
    struct OptimizationParams;

    //
fields

    OptimizationParams opt_params;
    GraphVisualizationParams viz_params;

    //
methods

    virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation);
    virtual void initializeVisuals();
    virtual void updateVisuals();
    virtual void notifyOfWindowEvents(const std::map<std::string, bool>& events_occurred);
    virtual void loadParams(const std::string& source_fname);
    virtual void printParams() const;
    virtual void getDescriptiveReport(std::string* report_str) const;
    virtual bool justFullyOptimizedGraph() const;
};

Inherited Members¶

public:
    // typedefs

    typedef typename GRAPH_t::constraint_t constraint_t;
    typedef typename GRAPH_t::constraint_t::type_value pose_t;

    // structs

    struct TMsg;

    //
methods

    virtual void setClassName(const std::string& name);
    bool isMultiRobotSlamClass();
    std::string getClassName() const;

Typedefs¶

typedef typename GRAPH_T::constraint_t constraint_t

Handy typedefs.

typedef typename GRAPH_T::constraint_t::type_value pose_t

type of underlying poses (2D/3D)

Fields¶

OptimizationParams opt_params

Parameters relevant to the optimizatio nfo the graph.

GraphVisualizationParams viz_params

Parameters relevant to the visualization of the graph.

Methods¶

virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)

Generic method for fetching the incremental action-observations (or observation-only) measurements.

Returns:

True if operation was successful. Criteria for Success depend on the decider/optimizer implementing this method

virtual void initializeVisuals()

Initialize visual objects in CDisplayWindow (e.g.

add an object to scene).

Parameters:

std::exception

If the method is called without having first provided a CDisplayWindow3D* to the class instance