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Made dogleg also use QR when useQR is true

release/4.3a0
Richard Roberts 2012-01-22 03:18:10 +00:00
parent 845e1bbf4f
commit 93f3411210
1 changed files with 1 additions and 1 deletions
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gtsam/nonlinear/NonlinearOptimizer-inl.h
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@ -302,7 +302,7 @@ namespace gtsam {
template<class G, class T, class L, class S, class W>
NonlinearOptimizer<G, T, L, S, W> NonlinearOptimizer<G, T, L, S, W>::iterateDogLeg() {
S solver(*graph_->linearize(*values_, *ordering_));
S solver(*graph_->linearize(*values_, *ordering_), parameters_->useQR_);
DoglegOptimizerImpl::IterationResult result = DoglegOptimizerImpl::Iterate(
parameters_->lambda_, DoglegOptimizerImpl::ONE_STEP_PER_ITERATION, *solver.eliminate(),
*graph_, *values_, *ordering_, error_, parameters_->verbosity_ > Parameters::ERROR);