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Merge pull request #234 from borglab/fix/nonlinear_cg 

Fix Parameter passing in Conjugate Gradient
release/4.3a0
Fan Jiang 2020-03-01 10:12:03 -05:00 committed by GitHub
parent f02aa1bdd8 cda82ffc45
commit 6ab77600cc
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1 changed files with 2 additions and 1 deletions
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gtsam/nonlinear/NonlinearConjugateGradientOptimizer.cpp
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@ -43,7 +43,8 @@ static VectorValues gradientInPlace(const NonlinearFactorGraph &nfg,
NonlinearConjugateGradientOptimizer::NonlinearConjugateGradientOptimizer( NonlinearConjugateGradientOptimizer::NonlinearConjugateGradientOptimizer(
const NonlinearFactorGraph& graph, const Values& initialValues, const Parameters& params) const NonlinearFactorGraph& graph, const Values& initialValues, const Parameters& params)
: Base(graph, std::unique_ptr<State>(new State(initialValues, graph.error(initialValues)))) {} : Base(graph, std::unique_ptr<State>(new State(initialValues, graph.error(initialValues)))),
params_(params) {}
double NonlinearConjugateGradientOptimizer::System::error(const State& state) const { double NonlinearConjugateGradientOptimizer::System::error(const State& state) const {
return graph_.error(state); return graph_.error(state);