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Fixes in printing

release/4.3a0
Richard Roberts 2012-03-23 03:39:02 +00:00
parent 4432916745
commit 9bd9e24af8
1 changed files with 8 additions and 7 deletions
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15
gtsam/nonlinear/NonlinearOptimizer.cpp
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@ -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