symforce.opt.optimizer_params module

class OptimizerParams(verbose=False, debug_stats=False, check_derivatives=False, include_jacobians=False, debug_checks=False, initial_lambda=1.0, lambda_lower_bound=0.0, lambda_upper_bound=1000000.0, lambda_update_type=lambda_update_type_t.STATIC, lambda_up_factor=4.0, lambda_down_factor=0.25, dynamic_lambda_update_beta=2.0, dynamic_lambda_update_gamma=3.0, dynamic_lambda_update_p=3, use_diagonal_damping=False, use_unit_damping=True, keep_max_diagonal_damping=False, diagonal_damping_min=1e-06, iterations=50, early_exit_min_reduction=1e-06, early_exit_min_absolute_error=0.0, enable_bold_updates=False)[source]

Bases: object

Parameters for the SymForce Optimizer

Mirrors the optimizer_params_t LCM type, see documentation there for information on each parameter.

Parameters:

  • verbose (bool)

  • debug_stats (bool)

  • check_derivatives (bool)

  • include_jacobians (bool)

  • debug_checks (bool)

  • initial_lambda (float)

  • lambda_lower_bound (float)

  • lambda_upper_bound (float)

  • lambda_update_type (lambda_update_type_t)

  • lambda_up_factor (float)

  • lambda_down_factor (float)

  • dynamic_lambda_update_beta (float)

  • dynamic_lambda_update_gamma (float)

  • dynamic_lambda_update_p (int)

  • use_diagonal_damping (bool)

  • use_unit_damping (bool)

  • keep_max_diagonal_damping (bool)

  • diagonal_damping_min (float)

  • iterations (int)

  • early_exit_min_reduction (float)

  • early_exit_min_absolute_error (float)

  • enable_bold_updates (bool)

verbose: bool = False
debug_stats: bool = False
check_derivatives: bool = False
include_jacobians: bool = False
debug_checks: bool = False
initial_lambda: float = 1.0
lambda_lower_bound: float = 0.0
lambda_upper_bound: float = 1000000.0
lambda_update_type: lambda_update_type_t = 1
lambda_up_factor: float = 4.0
lambda_down_factor: float = 0.25
dynamic_lambda_update_beta: float = 2.0
dynamic_lambda_update_gamma: float = 3.0
dynamic_lambda_update_p: int = 3
use_diagonal_damping: bool = False
use_unit_damping: bool = True
keep_max_diagonal_damping: bool = False
diagonal_damping_min: float = 1e-06
iterations: int = 50
early_exit_min_reduction: float = 1e-06
early_exit_min_absolute_error: float = 0.0
enable_bold_updates: bool = False
to_lcm()[source]
Return type:

optimizer_params_t

static from_lcm(msg)[source]
Parameters:

msg (optimizer_params_t)

Return type:

OptimizerParams