From 2476bbe8d7e62fc22f1c964978538b1d0094493e Mon Sep 17 00:00:00 2001
From: krunalchande <krunalchande@gmail.com>
Date: Thu, 25 Dec 2014 00:00:22 -0500
Subject: [PATCH] can pass debug flag as parameter.

---
 gtsam_unstable/nonlinear/LCNLPSolver.cpp | 10 ++++++----
 gtsam_unstable/nonlinear/LCNLPSolver.h   |  6 +++---
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/gtsam_unstable/nonlinear/LCNLPSolver.cpp b/gtsam_unstable/nonlinear/LCNLPSolver.cpp
index 720ee569d..99022ff5d 100644
--- a/gtsam_unstable/nonlinear/LCNLPSolver.cpp
+++ b/gtsam_unstable/nonlinear/LCNLPSolver.cpp
@@ -70,19 +70,21 @@ VectorValues LCNLPSolver::initializeDuals() const {
 }
 
 /* ************************************************************************* */
-std::pair<Values, VectorValues> LCNLPSolver::optimize(const Values& initialValues) const {
+std::pair<Values, VectorValues> LCNLPSolver::optimize(const Values& initialValues, bool debug) const {
   LCNLPState state(initialValues);
   state.duals = initializeDuals();
   while (!state.converged && state.iterations < 100) {
-    state = iterate(state);
+    if (debug)
+    std::cout << "state: iteration " << state.iterations << std::endl;
+    state = iterate(state, debug);
   }
+  if (debug)
   std::cout << "Number of iterations: " << state.iterations << std::endl;
   return std::make_pair(state.values, state.duals);
 }
 
 /* ************************************************************************* */
-LCNLPState LCNLPSolver::iterate(const LCNLPState& state) const {
-  static const bool debug = true;
+LCNLPState LCNLPSolver::iterate(const LCNLPState& state, bool debug) const {
 
   // construct the qp subproblem
   QP qp;
diff --git a/gtsam_unstable/nonlinear/LCNLPSolver.h b/gtsam_unstable/nonlinear/LCNLPSolver.h
index a31a04928..047fca38b 100644
--- a/gtsam_unstable/nonlinear/LCNLPSolver.h
+++ b/gtsam_unstable/nonlinear/LCNLPSolver.h
@@ -104,13 +104,13 @@ public:
   /**
    * Single iteration of SQP
    */
-  LCNLPState iterate(const LCNLPState& state) const;
+  LCNLPState iterate(const LCNLPState& state, bool debug = false) const;
 
   VectorValues initializeDuals() const;
   /**
-   * Main optimization function.
+   * Main optimization function. new
    */
-  std::pair<Values, VectorValues> optimize(const Values& initialValues) const;
+  std::pair<Values, VectorValues> optimize(const Values& initialValues, bool debug = false) const;
 
 };
 }