Class LeastSquaresSwitcher<S extends DMatrix>

java.lang.Object

org.ddogleg.optimization.LeastSquaresSwitcher<S>

public class LeastSquaresSwitcher<S extends DMatrix>
extends Object

Class that lets you easily switch between different GaussNewtonBase_F64 solvers and matrix formats. You must first call setSolver(ConfigNonLinearLeastSquares, boolean, boolean) before you call setFunction(FunctionNtoM, LeastSquaresSwitcher.ProcessJacobianOut). Supports implementations that can be specified using ConfigNonLinearLeastSquares.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static interface	LeastSquaresSwitcher.JacobianOut	Abstracts writing to the Jacobian so that LeastSquaresSwitcher.ProcessJacobianOut doesn't need to know the format
static interface	LeastSquaresSwitcher.ProcessJacobianOut	High level interface for implementing the Jacobian.

Constructor Summary

Constructors

Constructor	Description
LeastSquaresSwitcher()

Method Summary

Modifier and Type	Method	Description
static LeastSquaresSwitcher.JacobianOut	jacobianOutWrap(DMatrixRMaj output)	Convenience function for wrapping a matrix with LeastSquaresSwitcher.JacobianOut.
void	setFunction(FunctionNtoM function, LeastSquaresSwitcher.ProcessJacobianOut jacobian)	Specifies the cost residual function and it's Jacobian.
void	setSolver(ConfigNonLinearLeastSquares config, boolean sparse, boolean schur)	Used to specify the solver using a configuration which is then passed on to a factory

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

LeastSquaresSwitcher

public LeastSquaresSwitcher()

Method Details

setFunction

public void setFunction(FunctionNtoM function,
 LeastSquaresSwitcher.ProcessJacobianOut jacobian)

Specifies the cost residual function and it's Jacobian. Must be called after the solver has been specified.

setSolver

public void setSolver(ConfigNonLinearLeastSquares config,
 boolean sparse,
 boolean schur)

Used to specify the solver using a configuration which is then passed on to a factory

Parameters:

config - Which solver to user

sparse - Should it use a sparse matrix format?

schur - Should it use a schur decomposition?

jacobianOutWrap

public static LeastSquaresSwitcher.JacobianOut jacobianOutWrap(DMatrixRMaj output)

Convenience function for wrapping a matrix with LeastSquaresSwitcher.JacobianOut. Useful for unit testing