From 9279d4402ff4e544299e3cd5dab86ba1f2c66f2a Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Sun, 16 Feb 2014 16:19:20 -0500
Subject: [PATCH] identifying convergence issue in diagonal hessian LM

---
 tests/testNonlinearOptimizer.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/tests/testNonlinearOptimizer.cpp b/tests/testNonlinearOptimizer.cpp
index 71d515c7a..cd3e354ee 100644
--- a/tests/testNonlinearOptimizer.cpp
+++ b/tests/testNonlinearOptimizer.cpp
@@ -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()));
 }