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New test showing diagonal damping currently broken.

release/4.3a0
dellaert 2014-02-16 11:58:13 -05:00
parent c31d48dba1
commit 17e2221395
1 changed files with 6 additions and 0 deletions
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6
tests/testNonlinearOptimizer.cpp
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@ -254,6 +254,12 @@ TEST(NonlinearOptimizer, MoreOptimization) {
// Try LM and Dogleg // Try LM and Dogleg
EXPECT(assert_equal(expected, LevenbergMarquardtOptimizer(fg, init).optimize())); EXPECT(assert_equal(expected, LevenbergMarquardtOptimizer(fg, init).optimize()));
EXPECT(assert_equal(expected, DoglegOptimizer(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()));
} }
/* ************************************************************************* */ /* ************************************************************************* */