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do not cross upper bound for lambda

release/4.3a0
Luca 2014-02-16 16:33:43 -05:00
parent a1ff716daf
commit 4aec076568
1 changed files with 5 additions and 3 deletions
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8
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -184,10 +184,12 @@ void LevenbergMarquardtOptimizer::iterate() {
if (error < state_.error) { if (error < state_.error) {
state_.values.swap(newValues); state_.values.swap(newValues);
state_.error = error; state_.error = error;
if(modelFidelity > params_.minModelFidelity) if(modelFidelity > params_.minModelFidelity){
decreaseLambda(modelFidelity); decreaseLambda(modelFidelity);
else }else{
increaseLambda(modelFidelity); if(state_.lambda < params_.lambdaUpperBound)
increaseLambda(modelFidelity);
}
break; break;
} else { } else {
// Either we're not cautious, or the same lambda was worse than the current error. // Either we're not cautious, or the same lambda was worse than the current error.