diff --git a/cpp/GaussianFactorGraph.cpp b/cpp/GaussianFactorGraph.cpp index 300f60272..8faec9d47 100644 --- a/cpp/GaussianFactorGraph.cpp +++ b/cpp/GaussianFactorGraph.cpp @@ -275,6 +275,7 @@ VectorConfig GaussianFactorGraph::conjugateGradientDescent( // loop over remaining (n-1) dimensions int n = d.dim(); for (int k=2;k<=n;k++) { + // calculate gradient and check for convergence VectorConfig gk = gradient(x); double dotg = dot(gk,gk); @@ -291,7 +292,6 @@ VectorConfig GaussianFactorGraph::conjugateGradientDescent( return x; } -/* ************************************************************************* */ /* ************************************************************************* */ boost::shared_ptr GaussianFactorGraph::gradientDescent_(const VectorConfig& x0) const {