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Merge pull request #1381 from acowley/BatchFixedLagSmoother-verbosity

release/4.3a0
Varun Agrawal 2023-01-12 10:48:26 -05:00 committed by GitHub
parent a34c463e2b 0e6676c082
commit 5c59862238
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 4 additions and 1 deletions
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5
gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
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@ -282,9 +282,12 @@ FixedLagSmoother::Result BatchFixedLagSmoother::optimize() {
// Reject this change
if (lambda >= lambdaUpperBound) {
// The maximum lambda has been used. Print a warning and end the search.
cout
if(parameters_.verbosity >= NonlinearOptimizerParams::TERMINATION
|| parameters_.verbosityLM == LevenbergMarquardtParams::SUMMARY) {
cout
<< "Warning: Levenberg-Marquardt giving up because cannot decrease error with maximum lambda"
<< endl;
}
break;
} else {
// Increase lambda and continue searching