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Changed default to LDL instead of QR in NonlinearOptimizer, see associated frankcvs email

release/4.3a0
Richard Roberts 2011-09-07 21:52:42 +00:00
parent 5441571506
commit 72c2929ad6
1 changed files with 1 additions and 1 deletions
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gtsam/nonlinear/NonlinearOptimizationParameters.h
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@ -64,7 +64,7 @@ struct NonlinearOptimizationParameters {
NonlinearOptimizationParameters(): absDecrease_(1e-6), relDecrease_(1e-6), sumError_(0.0),
maxIterations_(100), lambda_(1e-5), lambdaFactor_(10.0), verbosity_(SILENT),
lambdaMode_(BOUNDED), useQR_(true) {}
lambdaMode_(BOUNDED), useQR_(false) {}
NonlinearOptimizationParameters(double absDecrease, double relDecrease, double sumError,
int iIters = 100, double lambda = 1e-5, double lambdaFactor = 10,