An implementation of the Levenberg-Marquardt algorithm for least-square minimization.
Refer to this page for more details on the algorithm and its usage.
NUMTYPE | The numeric type for all the operations (float, double, or long double) |
USERPARAM | The type of the "y" input to the user supplied evaluation functor. Default type is a vector of NUMTYPE. |
Definition at line 37 of file CLevenbergMarquardt.h.
#include <mrpt/math/CLevenbergMarquardt.h>
Classes | |
struct | TResultInfo |
Public Types | |
using | NUMTYPE = typename VECTORTYPE::Scalar |
using | matrix_t = Eigen::Matrix< NUMTYPE, Eigen::Dynamic, Eigen::Dynamic > |
using | vector_t = VECTORTYPE |
using | TFunctorEval = std::function< void(const VECTORTYPE &x, const USERPARAM &y, VECTORTYPE &out)> |
The type of the function passed to execute. More... | |
using | TFunctorIncrement = std::function< void(VECTORTYPE &x_new, const VECTORTYPE &x_old, const VECTORTYPE &x_incr, const USERPARAM &user_param)> |
The type of an optional functor passed to execute to replace the Euclidean addition "x_new = x_old + x_incr" by any other operation. More... | |
Public Member Functions | |
CLevenbergMarquardtTempl () | |
void | execute (VECTORTYPE &out_optimal_x, const VECTORTYPE &x0, TFunctorEval functor, const VECTORTYPE &increments, const USERPARAM &userParam, TResultInfo &out_info, mrpt::system::VerbosityLevel verbosity=mrpt::system::LVL_INFO, const size_t maxIter=200, const NUMTYPE tau=1e-3, const NUMTYPE e1=1e-8, const NUMTYPE e2=1e-8, bool returnPath=true, TFunctorIncrement x_increment_adder=nullptr) |
Executes the LM-method, with derivatives estimated from functor is a user-provided function which takes as input two vectors, in this order: More... | |
Static Public Attributes | |
static mrpt::system::TConsoleColor | logging_levels_to_colors [NUMBER_OF_VERBOSITY_LEVELS] |
Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More... | |
static std::string | logging_levels_to_names [NUMBER_OF_VERBOSITY_LEVELS] |
Map from VerbosityLevels to their corresponding names. More... | |
Protected Attributes | |
VerbosityLevel | m_min_verbosity_level |
Provided messages with VerbosityLevel smaller than this value shall be ignored. More... | |
Private Member Functions | |
std::string | generateStringFromFormat (const char *fmt, va_list argp) const |
Helper method for generating a std::string instance from printf-like arguments. More... | |
Private Attributes | |
std::string | m_logger_name |
std::deque< TMsg > | m_history |
std::deque< output_logger_callback_t > | m_listCallbacks |
Logging methods | |
void | logStr (const VerbosityLevel level, const std::string &msg_str) const |
Main method to add the specified message string to the logger. More... | |
void | logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3 |
Alternative logging method, which mimics the printf behavior. More... | |
void void | logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const |
Log the given message only if the condition is satisfied. More... | |
void | setLoggerName (const std::string &name) |
Set the name of the COutputLogger instance. More... | |
std::string | getLoggerName () const |
Return the name of the COutputLogger instance. More... | |
void | setMinLoggingLevel (const VerbosityLevel level) |
Set the minimum logging level for which the incoming logs are going to be taken into account. More... | |
void | setVerbosityLevel (const VerbosityLevel level) |
alias of setMinLoggingLevel() More... | |
VerbosityLevel | getMinLoggingLevel () const |
bool | isLoggingLevelVisible (VerbosityLevel level) const |
void | getLogAsString (std::string &log_contents) const |
Fill the provided string with the contents of the logger's history in std::string representation. More... | |
std::string | getLogAsString () const |
Get the history of COutputLogger instance in a string representation. More... | |
void | writeLogToFile (const std::string *fname_in=NULL) const |
Write the contents of the COutputLogger instance to an external file. More... | |
void | dumpLogToConsole () const |
Dump the current contents of the COutputLogger instance in the terminal window. More... | |
std::string | getLoggerLastMsg () const |
Return the last Tmsg instance registered in the logger history. More... | |
void | getLoggerLastMsg (std::string &msg_str) const |
Fill inputtted string with the contents of the last message in history. More... | |
void | loggerReset () |
Reset the contents of the logger instance. More... | |
void | logRegisterCallback (output_logger_callback_t userFunc) |
bool | logDeregisterCallback (output_logger_callback_t userFunc) |
bool | logging_enable_console_output |
[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More... | |
bool | logging_enable_keep_record |
[Default=false] Enables storing all messages into an internal list. More... | |
using mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::matrix_t = Eigen::Matrix<NUMTYPE, Eigen::Dynamic, Eigen::Dynamic> |
Definition at line 41 of file CLevenbergMarquardt.h.
using mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::NUMTYPE = typename VECTORTYPE::Scalar |
Definition at line 40 of file CLevenbergMarquardt.h.
using mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::TFunctorEval = std::function<void( const VECTORTYPE& x, const USERPARAM& y, VECTORTYPE& out)> |
The type of the function passed to execute.
The user must supply a function which evaluates the error of a given point in the solution space.
x | The state point under examination. |
y | The same object passed to "execute" as the parameter "userParam". |
out | The vector of (non-squared) errors, of the average square root error, for the given "x". The functor code must set the size of this vector. |
Definition at line 60 of file CLevenbergMarquardt.h.
using mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::TFunctorIncrement = std::function<void( VECTORTYPE& x_new, const VECTORTYPE& x_old, const VECTORTYPE& x_incr, const USERPARAM& user_param)> |
The type of an optional functor passed to execute to replace the Euclidean addition "x_new = x_old + x_incr" by any other operation.
Definition at line 67 of file CLevenbergMarquardt.h.
using mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::vector_t = VECTORTYPE |
Definition at line 42 of file CLevenbergMarquardt.h.
|
inline |
Definition at line 44 of file CLevenbergMarquardt.h.
|
inherited |
Dump the current contents of the COutputLogger instance in the terminal window.
Definition at line 179 of file COutputLogger.cpp.
|
inline |
Executes the LM-method, with derivatives estimated from functor is a user-provided function which takes as input two vectors, in this order:
x_increment_adder Is an optional functor which may replace the Euclidean "x_new = x + x_increment" at the core of the incremental optimizer by any other operation. It can be used for example, in on-manifold optimizations.
Definition at line 102 of file CLevenbergMarquardt.h.
References ASSERT_, mrpt::math::estimateJacobian(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::TResultInfo::final_sqr_err, mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::TResultInfo::H, mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::TResultInfo::iterations_executed, mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::TResultInfo::last_err_vector, mrpt::system::COutputLogger::logFmt(), mrpt::system::LVL_DEBUG, mrpt::system::LVL_INFO, MRPT_END, MRPT_START, mrpt::math::norm(), mrpt::math::norm_inf(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::TResultInfo::path, mrpt::system::COutputLogger::setMinLoggingLevel(), and mrpt::containers::sprintf_vector().
|
privateinherited |
Helper method for generating a std::string instance from printf-like arguments.
Definition at line 99 of file COutputLogger.cpp.
References mrpt::system::os::vsnprintf().
|
inherited |
Get the history of COutputLogger instance in a string representation.
Definition at line 148 of file COutputLogger.cpp.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().
|
inherited |
Fill the provided string with the contents of the logger's history in std::string representation.
Definition at line 143 of file COutputLogger.cpp.
|
inherited |
Return the last Tmsg instance registered in the logger history.
Definition at line 184 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::TMsg::getAsString().
|
inherited |
Fill inputtted string with the contents of the last message in history.
Definition at line 190 of file COutputLogger.cpp.
|
inherited |
Return the name of the COutputLogger instance.
Definition at line 132 of file COutputLogger.cpp.
Referenced by mrpt::system::COutputLogger::TMsg::TMsg().
|
inlineinherited |
Definition at line 200 of file system/COutputLogger.h.
References mrpt::system::COutputLogger::m_min_verbosity_level.
Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().
|
inlineinherited |
Definition at line 201 of file system/COutputLogger.h.
References mrpt::system::COutputLogger::m_min_verbosity_level.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().
|
inherited |
Log the given message only if the condition is satisfied.
Definition at line 120 of file COutputLogger.cpp.
|
inherited |
Definition at line 287 of file COutputLogger.cpp.
References getAddress().
|
inherited |
Alternative logging method, which mimics the printf behavior.
Handy for not having to first use mrpt::format to pass a std::string message to logStr
Definition at line 80 of file COutputLogger.cpp.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().
|
inherited |
Reset the contents of the logger instance.
Called upon construction.
Definition at line 195 of file COutputLogger.cpp.
References mrpt::system::LVL_INFO.
|
inherited |
Definition at line 274 of file COutputLogger.cpp.
|
inherited |
Main method to add the specified message string to the logger.
Definition at line 61 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.
Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().
|
inherited |
Set the name of the COutputLogger instance.
Definition at line 127 of file COutputLogger.cpp.
Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().
|
inherited |
Set the minimum logging level for which the incoming logs are going to be taken into account.
String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance
Definition at line 133 of file COutputLogger.cpp.
Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().
|
inherited |
alias of setMinLoggingLevel()
Definition at line 138 of file COutputLogger.cpp.
Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().
|
inherited |
Write the contents of the COutputLogger instance to an external file.
Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided
Definition at line 154 of file COutputLogger.cpp.
References ASSERTMSG_, and mrpt::format().
|
inherited |
[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.
Definition at line 239 of file system/COutputLogger.h.
|
inherited |
[Default=false] Enables storing all messages into an internal list.
Definition at line 242 of file system/COutputLogger.h.
|
staticinherited |
Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.
Implementation file for the COutputLogger header class.
Handy for coloring the input based on the verbosity of the message
Definition at line 124 of file system/COutputLogger.h.
Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().
|
staticinherited |
Map from VerbosityLevels to their corresponding names.
Handy for printing the current message VerbosityLevel along with the actual content
Definition at line 129 of file system/COutputLogger.h.
Referenced by mrpt::system::COutputLogger::TMsg::getAsString().
|
mutableprivateinherited |
Definition at line 312 of file system/COutputLogger.h.
|
privateinherited |
Definition at line 314 of file system/COutputLogger.h.
|
privateinherited |
Definition at line 310 of file system/COutputLogger.h.
|
protectedinherited |
Provided messages with VerbosityLevel smaller than this value shall be ignored.
Definition at line 252 of file system/COutputLogger.h.
Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().
Page generated by Doxygen 1.8.17 for MRPT 1.9.9 Git: ad3a9d8ae Tue May 1 23:10:22 2018 -0700 at miƩ 12 jul 2023 10:03:34 CEST |