From 4552327e54e0bfd1d20cb1479ef844b506b335be Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Wed, 16 Apr 2014 19:41:23 -0400
Subject: [PATCH] added space :)

---
 gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index 0bf06f21f..3f7e80ed4 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -258,7 +258,7 @@ void LevenbergMarquardtOptimizer::iterate() {
       double linearizedCostChange = state_.error - newlinearizedError;
       if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
               cout << "newlinearizedError = " << newlinearizedError <<
-              "linearizedCostChange = " << linearizedCostChange << endl;
+              "  linearizedCostChange = " << linearizedCostChange << endl;
 
       if (linearizedCostChange >= 0) { // step is valid
         // update values
@@ -280,7 +280,7 @@ void LevenbergMarquardtOptimizer::iterate() {
         // cost change in the original, nonlinear system (old - new)
         double costChange = state_.error - newError;
 
-        if (linearizedCostChange > 1e-15) { // the error has to decrease to satify this condition
+        if (linearizedCostChange > 1e-15) { // the error has to decrease to satisfy this condition
           // fidelity of linearized model VS original system between
           modelFidelity = costChange / linearizedCostChange;
           // if we decrease the error in the nonlinear system and modelFidelity is above threshold
@@ -293,7 +293,6 @@ void LevenbergMarquardtOptimizer::iterate() {
         // if the change is small we terminate
         if (fabs(costChange) < minAbsoluteTolerance)
           stopSearchingLambda = true;
-
       }
     }