Struct SolverConfig

Struct Documentation

struct SolverConfig

Configuration options for the pose optimizer.

Contains parameters that control solver behavior and a list of constraints applied during optimization.

Public Functions

inline SolverConfig(const SolverConfig &other)

Copy constructor performing a deep copy of constraints.

Parameters:

other[in] The SolverConfig to copy from.

inline SolverConfig &operator=(const SolverConfig &other)

Copy assignment operator performing a deep copy of constraints.

Parameters:

other[in] The SolverConfig to assign from.

Returns:

SolverConfig& Reference to this.

SolverConfig() = default

Default constructor.

SolverConfig(SolverConfig &&other) = default

Move constructor.

Parameters:

other[in] The SolverConfig to move from.

SolverConfig &operator=(SolverConfig &&other) = default

Move assignment operator.

Parameters:

other[in] The SolverConfig to move-assign from.

Returns:

SolverConfig& Reference to this.

Public Members

double key_frame_distance = 1.0

The distance between nodes in the trajectory (in meters).

double traj_rotation_weight = 10.0

The weight for rotational constraints during trajectory optimization.

double traj_translation_weight = 10.0

The weight for translational constraints during trajectory optimization.

uint64_t max_num_iterations = 500

The maximum number of iterations the solver will perform before terminating.

double function_tolerance = 1e-18

The tolerance threshold for changes in the cost function.

double gradient_tolerance = 1e-20

The tolerance threshold for changes in the gradient.

double parameter_tolerance = 1e-18

The tolerance threshold for changes in parameters.

bool process_printout = true

Flag to enable or disable detailed printout of the optimization process.

bool fix_first_node = false

Flag to fix the first node of the trajectory during optimization.

LossFunction loss_function = LossFunction::HUBER_LOSS

The robust loss function to use for residuals.

double loss_scale = 1.0

Scaling parameter for the chosen loss function.

std::vector<std::unique_ptr<Constraint>> constraints

Vector of constraints to apply during optimization.