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Fix an infinite loop in GTSAM's nonlinear optimizer

release/4.3a0
Erik Nelson 2019-11-22 13:04:48 -08:00
parent eafc3794b4
commit 041c4518bf
1 changed files with 1 additions and 1 deletions
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gtsam/nonlinear/NonlinearOptimizer.cpp
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@ -101,7 +101,7 @@ void NonlinearOptimizer::defaultOptimize() {
cout << "newError: " << error() << endl; cout << "newError: " << error() << endl;
} while (iterations() < params.maxIterations && } while (iterations() < params.maxIterations &&
!checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol, !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol,
currentError, error(), params.verbosity)); currentError, error(), params.verbosity) && std::isfinite(currentError));
// Printing if verbose // Printing if verbose
if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) { if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) {