@@ -3,7 +3,7 @@ verbose: 0 # DOC Verbosity of the solver. 0: Nothing, 1: Brief report, 2: Full
compute_cov:false# DOC If the solver has to compute any covariance matrix block. - TYPE bool
cov_enum:0# MANDATORY if $compute_cov - DOC Which covariance matrix blocks have to be computed. 0: All blocks and all cross-covariances. 1: All marginals. 2: Marginals of landmarks and current robot pose plus cross covariances of current robot and all landmarks. 3: Last frame P and V. 4: Last frame P, O, V and T. 5: Last frame P and T. - TYPE int - OPTIONS [0, 1, 2, 3, 4, 5]
cov_period:0.0# MANDATORY if $compute_cov - DOC Period of the covariance computation. - TYPE double
minimizer:"LEVENBERG_MARQUARDT"# DOC Type of minimizer. - TYPE string - OPTIONS [LEVENBERG_MARQUARDT, levenberg_marquardt, DOGLEG, dogleg, LBFGS, lbfgs, BFGS, bfgs]
minimizer:"levenberg_marquardt"# DOC Type of minimizer. - TYPE string - OPTIONS [levenberg_marquardt, dogleg, lbfgs, bfgs]
interrupt_on_problem_change:false# DOC If the solver has to interrupted each time the problem changes to rebuild the problem. - TYPE bool
min_num_iterations:0# MANDATORY if $interrupt_on_problem_change - DOC Amount of solver iterations during which the solver cannot be interrupted (used in interrupt_on_problem_change == true). - TYPE unsigned int
max_num_iterations:0# DOC Maximum amount of solver iterations. If the solver didn"t converge after this amount of iterations, it stops anyway. - TYPE unsigned int
