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identifying convergence issue in diagonal hessian LM

release/4.3a0
Luca 2014-02-16 16:19:20 -05:00
parent 8b6bb80cec
commit 9279d4402f
1 changed files with 4 additions and 0 deletions
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4
tests/testNonlinearOptimizer.cpp
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@ -257,7 +257,11 @@ TEST(NonlinearOptimizer, MoreOptimization) {
// Try LM with diagonal damping
LevenbergMarquardtParams params;
params.verbosityLM = gtsam::LevenbergMarquardtParams::DAMPED;
params.verbosity = gtsam::NonlinearOptimizerParams::ERROR;
params.setDiagonalDamping(true);
params.setRelativeErrorTol(1e-9);
params.setAbsoluteErrorTol(1e-9);
LevenbergMarquardtOptimizer optimizer(fg, init, params);
EXPECT(assert_equal(expected, optimizer.optimize()));
}