76 lines
2.8 KiB
C#
76 lines
2.8 KiB
C#
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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using System.Text.Json.Serialization;
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namespace CartographerSharp.Models.Common;
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/// <summary>
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/// Protocol buffer representation of Ceres Solver options.
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/// Configure the Ceres solver. See the Ceres documentation for more
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/// information: https://code.google.com/p/ceres-solver/
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/// </summary>
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public struct CeresSolverOptions(
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bool useNonmonotonicSteps,
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int maxNumIterations,
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int numThreads,
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double? functionTolerance = null,
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double? gradientTolerance = null,
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double? parameterTolerance = null)
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{
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/// <summary>
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/// Use non-monotonic steps in the solver.
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/// </summary>
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[JsonPropertyName("use_nonmonotonic_steps")]
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public bool UseNonmonotonicSteps { get; set; } = useNonmonotonicSteps;
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/// <summary>
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/// Maximum number of iterations for the solver.
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/// </summary>
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[JsonPropertyName("max_num_iterations")]
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public int MaxNumIterations { get; set; } = maxNumIterations;
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/// <summary>
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/// Number of threads to use in the solver.
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/// </summary>
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[JsonPropertyName("num_threads")]
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public int NumThreads { get; set; } = numThreads;
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/// <summary>
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/// Function tolerance for convergence check.
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/// Minimizer terminates when (new_cost - old_cost) < function_tolerance * old_cost
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/// </summary>
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[JsonPropertyName("function_tolerance")]
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[JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
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public double? FunctionTolerance { get; set; } = functionTolerance;
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/// <summary>
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/// Gradient tolerance for convergence check.
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/// Minimizer terminates when max_i |x - Project(Plus(x, -g(x))| < gradient_tolerance
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/// </summary>
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[JsonPropertyName("gradient_tolerance")]
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[JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
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public double? GradientTolerance { get; set; } = gradientTolerance;
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/// <summary>
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/// Parameter tolerance for convergence check.
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/// Minimizer terminates when |step|_2 <= parameter_tolerance * (|x|_2 + parameter_tolerance)
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/// </summary>
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[JsonPropertyName("parameter_tolerance")]
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[JsonIgnore(Condition = JsonIgnoreCondition.WhenWritingNull)]
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public double? ParameterTolerance { get; set; } = parameterTolerance;
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}
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