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srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Models/Common/CeresSolverOptions.cs

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