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added space :)

release/4.3a0
Luca 2014-04-16 19:41:23 -04:00
parent 926b4c6443
commit 4552327e54
1 changed files with 2 additions and 3 deletions
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gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -258,7 +258,7 @@ void LevenbergMarquardtOptimizer::iterate() {
double linearizedCostChange = state_.error - newlinearizedError; double linearizedCostChange = state_.error - newlinearizedError;
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
cout << "newlinearizedError = " << newlinearizedError << cout << "newlinearizedError = " << newlinearizedError <<
"linearizedCostChange = " << linearizedCostChange << endl; " linearizedCostChange = " << linearizedCostChange << endl;
if (linearizedCostChange >= 0) { // step is valid if (linearizedCostChange >= 0) { // step is valid
// update values // update values
@ -280,7 +280,7 @@ void LevenbergMarquardtOptimizer::iterate() {
// cost change in the original, nonlinear system (old - new) // cost change in the original, nonlinear system (old - new)
double costChange = state_.error - newError; 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 // fidelity of linearized model VS original system between
modelFidelity = costChange / linearizedCostChange; modelFidelity = costChange / linearizedCostChange;
// if we decrease the error in the nonlinear system and modelFidelity is above threshold // 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 the change is small we terminate
if (fabs(costChange) < minAbsoluteTolerance) if (fabs(costChange) < minAbsoluteTolerance)
stopSearchingLambda = true; stopSearchingLambda = true;
} }
} }