From 17e2221395a90ffbf22702ca3c47f8f4c352715e Mon Sep 17 00:00:00 2001 From: dellaert Date: Sun, 16 Feb 2014 11:58:13 -0500 Subject: [PATCH] New test showing diagonal damping currently broken. --- tests/testNonlinearOptimizer.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp index 36da0fb0e..71d515c7a 100644 --- a/tests/testNonlinearOptimizer.cpp +++ b/tests/testNonlinearOptimizer.cpp @@ -254,6 +254,12 @@ TEST(NonlinearOptimizer, MoreOptimization) { // Try LM and Dogleg EXPECT(assert_equal(expected, LevenbergMarquardtOptimizer(fg, init).optimize())); EXPECT(assert_equal(expected, DoglegOptimizer(fg, init).optimize())); + + // Try LM with diagonal damping + LevenbergMarquardtParams params; + params.setDiagonalDamping(true); + LevenbergMarquardtOptimizer optimizer(fg, init, params); + EXPECT(assert_equal(expected, optimizer.optimize())); } /* ************************************************************************* */