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small fix

release/4.3a0
Luca 2014-02-16 16:05:01 -05:00
parent f804fd9bd1
commit 8b6bb80cec
1 changed files with 1 additions and 1 deletions
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gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -123,7 +123,7 @@ void LevenbergMarquardtOptimizer::iterate() {
Matrix A = Matrix::Identity(dim, dim); Matrix A = Matrix::Identity(dim, dim);
//Replace the identity matrix with diagonal of Hessian //Replace the identity matrix with diagonal of Hessian
if (params_.diagonalDamping) { if (params_.diagonalDamping) {
A.diagonal() = hessianDiagonal.at(key_value.key)*state_.lambda; A.diagonal() = hessianDiagonal.at(key_value.key);
for (int aa=0; aa<dim; aa++) for (int aa=0; aa<dim; aa++)
{ {
A(aa,aa)=sqrt(A(aa,aa)); A(aa,aa)=sqrt(A(aa,aa));