adapted to simplified solver options

demos/hello_wolf/hello_wolf.cpp

@@ -118,7 +118,7 @@ int main()
     params_solver["parameter_tolerance"]         = 1e-8;
     params_solver["function_tolerance"]          = 1e-8;
     params_solver["gradient_tolerance"]          = 1e-9;
-    params_solver["minimizer"]                   = "LEVENBERG_MARQUARDT";
+    params_solver["minimizer"]                   = "levenberg_marquardt";
     params_solver["use_nonmonotonic_steps"]      = false;
     params_solver["compute_cov"]                 = false;
     SolverCeresPtr ceres = std::static_pointer_cast<SolverCeres>(SolverCeres::create(problem, params_solver));

demos/hello_wolf/yaml/hello_wolf_config.yaml

@@ -27,8 +27,8 @@ solver:
   interrupt_on_problem_change: false
   n_threads: 2
   compute_cov: false
-  minimizer: LEVENBERG_MARQUARDT
-  use_nonmonotonic_steps: false         # only for LEVENBERG_MARQUARDT and DOGLEG
+  minimizer: levenberg_marquardt
+  use_nonmonotonic_steps: false         # only for levenberg_marquardt and DOGLEG
   parameter_tolerance: 1e-6
   function_tolerance: 1e-6
   gradient_tolerance: 1e-10

demos/solver/yaml/solver_ceres.yaml

@@ -5,8 +5,8 @@ max_num_iterations: 1000
 n_threads: 2
 function_tolerance: 0.000001
 gradient_tolerance: 0.0000000001
-minimizer: "LEVENBERG_MARQUARDT"
-use_nonmonotonic_steps: false         # only for LEVENBERG_MARQUARDT and DOGLEG
+minimizer: "levenberg_marquardt"
+use_nonmonotonic_steps: false         # only for levenberg_marquardt and DOGLEG
 max_consecutive_nonmonotonic_steps: 5 # only if use_nonmonotonic_steps = true
 compute_cov: true
 cov_period: 1                         #only if compute_cov

schema/solver/SolverCeres.schema

@@ -47,10 +47,10 @@ use_nonmonotonic_steps:
   _mandatory: false
   _type: bool
   _default: false
-  _doc: If the solver is allowed to update the solution with non-monotonic steps. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers.
+  _doc: If the solver is allowed to update the solution with non-monotonic steps. Only used in 'levenberg_marquardt' and 'dogleg' minimizers.
 
 max_consecutive_nonmonotonic_steps:
   _mandatory: false
   _type: unsigned int
   _default: 2
-  _doc: Amount of consecutive non-monotonic steps allowed. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers.
+  _doc: Amount of consecutive non-monotonic steps allowed. Only used in 'levenberg_marquardt' and 'dogleg' minimizers.
\ No newline at end of file

src/solver/solver_manager.cpp

@@ -82,6 +82,9 @@ SolverManagerPtr SolverManager::autoSetup(const ProblemPtr&        _problem,
         // Create YAML server
         yaml_schema_cpp::YamlServer server = yaml_schema_cpp::YamlServer(_schema_folders);
         server.setYaml(_param_node);
+        
+        // Add the already loaded plugins' installed schema folders after optional input folders
+        server.addFolderSchema(FolderRegistry::getRegisteredFolders());
 
         // Validate against TypeAndPlugin (check if it has 'type' and 'plugin')
         if (not server.applySchema("TypeAndPlugin"))

yaml_templates/solver/SolverCeres.yaml

@@ -11,5 +11,5 @@ parameter_tolerance: 0.0  # DOC Parameter tolerance. Convergence criterion. Typi
 function_tolerance: 0.0  # DOC Function tolerance. Convergence criterion. Typical value: 1e-8 (see: http://ceres-solver.org/nnls_solving.html) - TYPE double
 gradient_tolerance: 0.0  # DOC Gradient tolerance. Convergence criterion. Typical value: 1e-8 (see: http://ceres-solver.org/nnls_solving.html) - TYPE double
 n_threads: 1  # DOC Amount of threads used by ceres. - TYPE unsigned int - OPTIONS [1, 2, 3, 4]
-use_nonmonotonic_steps: false  # OPTIONAL - DOC If the solver is allowed to update the solution with non-monotonic steps. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers. - TYPE bool
-max_consecutive_nonmonotonic_steps: 2  # OPTIONAL - DOC Amount of consecutive non-monotonic steps allowed. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers. - TYPE unsigned int
+use_nonmonotonic_steps: false  # OPTIONAL - DOC If the solver is allowed to update the solution with non-monotonic steps. Only used in 'levenberg_marquardt' and 'dogleg' minimizers. - TYPE bool
+max_consecutive_nonmonotonic_steps: 2  # OPTIONAL - DOC Amount of consecutive non-monotonic steps allowed. Only used in 'levenberg_marquardt' and 'dogleg' minimizers. - TYPE unsigned int
\ No newline at end of file