From 72c2929ad693087cc845efaa82d5e9b797cce0ed Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Wed, 7 Sep 2011 21:52:42 +0000 Subject: [PATCH] Changed default to LDL instead of QR in NonlinearOptimizer, see associated frankcvs email --- gtsam/nonlinear/NonlinearOptimizationParameters.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/NonlinearOptimizationParameters.h b/gtsam/nonlinear/NonlinearOptimizationParameters.h index 158431d70..cdfd543ff 100644 --- a/gtsam/nonlinear/NonlinearOptimizationParameters.h +++ b/gtsam/nonlinear/NonlinearOptimizationParameters.h @@ -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,