fixed *BUG* in Yong-Dian's (obsolete?) CG solver

2015-02-18 08:22:08 +01:00 · 2015-02-18 08:22:08 +01:00 · 5ed0c6cc49
parent fad11c0f4b
commit 5ed0c6cc49
1 changed files with 1 additions and 1 deletions
--- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
+++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
@ -193,7 +193,7 @@ boost::tuple<V, int> nonlinearConjugateGradient(const S &system,
      // Polak-Ribiere: beta = g'*(g_n-g_n-1)/g_n-1'*g_n-1
      const double beta = std::max(0.0,
          currentGradient.dot(currentGradient - prevGradient)
-              / currentGradient.dot(currentGradient));
+              / prevGradient.dot(prevGradient));
      direction = currentGradient + (beta * direction);
    }