From 0778f37063b13612550763a202e6486b197fed46 Mon Sep 17 00:00:00 2001
From: Yong-Dian Jian <ydjian@gmail.com>
Date: Mon, 25 Oct 2010 23:18:55 +0000
Subject: [PATCH] fix ambiguous function overload and default threshold

---
 gtsam/nonlinear/NonlinearOptimizationParameters.h |  2 +-
 gtsam/nonlinear/NonlinearOptimizer.h              | 12 ++++++------
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/gtsam/nonlinear/NonlinearOptimizationParameters.h b/gtsam/nonlinear/NonlinearOptimizationParameters.h
index 7545dd6bb..c581f1793 100644
--- a/gtsam/nonlinear/NonlinearOptimizationParameters.h
+++ b/gtsam/nonlinear/NonlinearOptimizationParameters.h
@@ -47,7 +47,7 @@ namespace gtsam {
 		typedef boost::shared_ptr<NonlinearOptimizationParameters> sharedThis ;
 
 
-		NonlinearOptimizationParameters(): absDecrease_(1), relDecrease_(1e-3), sumError_(0.0),
+		NonlinearOptimizationParameters(): absDecrease_(1e-6), relDecrease_(1e-6), sumError_(0.0),
 		maxIterations_(100), lambda_(1e-5), lambdaFactor_(10.0), verbosity_(ERROR), lambdaMode_(BOUNDED){}
 
 		NonlinearOptimizationParameters(double absDecrease, double relDecrease, double sumError,
diff --git a/gtsam/nonlinear/NonlinearOptimizer.h b/gtsam/nonlinear/NonlinearOptimizer.h
index c0df0c305..374dee424 100644
--- a/gtsam/nonlinear/NonlinearOptimizer.h
+++ b/gtsam/nonlinear/NonlinearOptimizer.h
@@ -310,7 +310,7 @@ namespace gtsam {
 
 		static shared_values optimizeLM(shared_graph graph,
 										shared_values values,
-										Parameters::verbosityLevel verbosity = Parameters::SILENT)
+										Parameters::verbosityLevel verbosity)
 		{
 			Parameters def ;
 			shared_parameters parameters = def.newVerbosity_(verbosity);
@@ -322,7 +322,7 @@ namespace gtsam {
 
 		static shared_values optimizeLM(const G& graph,
 										const T& values,
-										const Parameters parameters) {
+										const Parameters parameters = Parameters()) {
 			return optimizeLM(boost::make_shared<const G>(graph),
 							  boost::make_shared<const T>(values),
 							  boost::make_shared<Parameters>(parameters));
@@ -330,7 +330,7 @@ namespace gtsam {
 
 		static shared_values optimizeLM(const G& graph,
 										const T& values,
-										Parameters::verbosityLevel verbosity = Parameters::SILENT) {
+										Parameters::verbosityLevel verbosity) {
 			return optimizeLM(boost::make_shared<const G>(graph),
 							  boost::make_shared<const T>(values),
 							  verbosity);
@@ -347,7 +347,7 @@ namespace gtsam {
 		// suggested interface
 		static shared_values optimizeGN(shared_graph graph,
 										shared_values values,
-										shared_parameters parameters) {
+										shared_parameters parameters = boost::make_shared<Parameters>()) {
 
 			Ordering::shared_ptr ordering = graph->orderingCOLAMD(*values);
 			// initial optimization state is the same in both cases tested
@@ -361,7 +361,7 @@ namespace gtsam {
 		// backward compatible
 		static shared_values optimizeGN(shared_graph graph,
 										shared_values values,
-										Parameters::verbosityLevel verbosity = Parameters::SILENT) {
+										Parameters::verbosityLevel verbosity) {
 			Parameters def ;
 			shared_parameters parameters = def.newVerbosity_(verbosity);
 			return optimizeGN(graph, values, parameters);
@@ -379,7 +379,7 @@ namespace gtsam {
 		}
 
 		// backward compatible
-		static shared_values optimizeGN(const G& graph, const T& values, Parameters::verbosityLevel verbosity = Parameters::SILENT) {
+		static shared_values optimizeGN(const G& graph, const T& values, Parameters::verbosityLevel verbosity) {
 			return optimizeGN(boost::make_shared<const G>(graph),
 							  boost::make_shared<const T>(values),
 							  verbosity);