From 9bd9e24af8e56d0fb722fb633038485b4c98cb05 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 23 Mar 2012 03:39:02 +0000 Subject: [PATCH] Fixes in printing --- gtsam/nonlinear/NonlinearOptimizer.cpp | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp index 758216bb4..42e33d4a8 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearOptimizer.cpp @@ -37,8 +37,8 @@ NonlinearOptimizer::auto_ptr NonlinearOptimizer::defaultOptimize() const { } // Maybe show output - if (params_->verbosity >= NonlinearOptimizerParams::VALUES) this->values()->print("newValues"); - if (params_->verbosity >= NonlinearOptimizerParams::ERROR) cout << "newError: " << this->error() << endl; + if (params_->verbosity >= NonlinearOptimizerParams::VALUES) this->values()->print("Initial values"); + if (params_->verbosity >= NonlinearOptimizerParams::ERROR) cout << "Initial error: " << this->error() << endl; // Return if we already have too many iterations if(this->iterations() >= params_->maxIterations) @@ -47,16 +47,17 @@ NonlinearOptimizer::auto_ptr NonlinearOptimizer::defaultOptimize() const { // Iterative loop auto_ptr next = this->iterate(); // First iteration happens here while(next->iterations() < params_->maxIterations && - !checkConvergence(params_->relativeErrorTol, params_->absoluteErrorTol, + !checkConvergence(params_->relativeErrorTol, params_->absoluteErrorTol, params_->errorTol, currentError, next->error(), params_->verbosity)) { - // Do next iteration - currentError = next->error(); - next = next->iterate(); - // Maybe show output if (params_->verbosity >= NonlinearOptimizerParams::VALUES) next->values()->print("newValues"); if (params_->verbosity >= NonlinearOptimizerParams::ERROR) cout << "newError: " << next->error() << endl; + + + // Do next iteration + currentError = next->error(); + next = next->iterate(); } // Printing if verbose