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Merge pull request #170 from erik-nelson/erik/fix_optimizer_infinite_loop 

Fix potential infinite loop in GTSAM's nonlinear optimizer.
release/4.3a0
Frank Dellaert 2019-11-22 19:50:54 -05:00 committed by GitHub
parent eafc3794b4 041c4518bf
commit 6c00e0378d
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1 changed files with 1 additions and 1 deletions
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gtsam/nonlinear/NonlinearOptimizer.cpp
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@ -101,7 +101,7 @@ void NonlinearOptimizer::defaultOptimize() {
cout << "newError: " << error() << endl; cout << "newError: " << error() << endl;
} while (iterations() < params.maxIterations && } while (iterations() < params.maxIterations &&
!checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol, !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol,
currentError, error(), params.verbosity)); currentError, error(), params.verbosity) && std::isfinite(currentError));
// Printing if verbose // Printing if verbose
if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) { if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) {