From 1269785c0589e5347e35ea0b1e8fb67727899b0e Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 17 Jun 2015 09:23:24 -0700 Subject: [PATCH] Fixed naming convention --- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 8 ++++---- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index a691506e2..928b27167 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -105,8 +105,8 @@ void LevenbergMarquardtParams::print(const std::string& str) const { std::cout << " lambdaLowerBound: " << lambdaLowerBound << "\n"; std::cout << " minModelFidelity: " << minModelFidelity << "\n"; std::cout << " diagonalDamping: " << diagonalDamping << "\n"; - std::cout << " min_diagonal: " << min_diagonal << "\n"; - std::cout << " max_diagonal: " << max_diagonal << "\n"; + std::cout << " minDiagonal: " << minDiagonal << "\n"; + std::cout << " maxDiagonal: " << maxDiagonal << "\n"; std::cout << " verbosityLM: " << verbosityLMTranslator(verbosityLM) << "\n"; std::cout.flush(); @@ -156,8 +156,8 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::buildDampedSystem( state_.hessianDiagonal = linear.hessianDiagonal(); BOOST_FOREACH(Vector& v, state_.hessianDiagonal | map_values) { for (int aa = 0; aa < v.size(); aa++) { - v(aa) = std::min(std::max(v(aa), params_.min_diagonal), - params_.max_diagonal); + v(aa) = std::min(std::max(v(aa), params_.minDiagonal), + params_.maxDiagonal); v(aa) = sqrt(v(aa)); } } diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index d185bca0e..bc4a55e26 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -55,8 +55,8 @@ public: std::string logFile; ///< an optional CSV log file, with [iteration, time, error, labda] bool diagonalDamping; ///< if true, use diagonal of Hessian bool useFixedLambdaFactor; ///< if true applies constant increase (or decrease) to lambda according to lambdaFactor - double min_diagonal; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) - double max_diagonal; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) + double minDiagonal; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6) + double maxDiagonal; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32) LevenbergMarquardtParams() : lambdaInitial(1e-5), @@ -67,8 +67,8 @@ public: minModelFidelity(1e-3), diagonalDamping(false), useFixedLambdaFactor(true), - min_diagonal(1e-6), - max_diagonal(1e32) {} + minDiagonal(1e-6), + maxDiagonal(1e32) {} static LevenbergMarquardtParams CeresDefaults() { LevenbergMarquardtParams p;