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Merge branch 'fix_constructor' into feature/CeresDefaults

release/4.3a0
Frank Dellaert 2015-06-17 19:54:34 -07:00
parent 62db9370ca 62bfce7358
commit 9f209e441f
1 changed files with 2 additions and 5 deletions
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7
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
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@ -136,10 +136,7 @@ public:
VectorValues hessianDiagonal; //< we only update hessianDiagonal when reuseDiagonal = false VectorValues hessianDiagonal; //< we only update hessianDiagonal when reuseDiagonal = false
bool reuseDiagonal; ///< an additional option in Ceres for diagonalDamping bool reuseDiagonal; ///< an additional option in Ceres for diagonalDamping
LevenbergMarquardtState() : LevenbergMarquardtState() {} // used in LM constructor but immediately overwritten
reuseDiagonal(false) {
initTime();
}
void initTime() { void initTime() {
startTime = boost::posix_time::microsec_clock::universal_time(); startTime = boost::posix_time::microsec_clock::universal_time();
@ -153,7 +150,7 @@ protected:
const Values& initialValues, const LevenbergMarquardtParams& params, const Values& initialValues, const LevenbergMarquardtParams& params,
unsigned int iterations = 0) : unsigned int iterations = 0) :
NonlinearOptimizerState(graph, initialValues, iterations), lambda( NonlinearOptimizerState(graph, initialValues, iterations), lambda(
params.lambdaInitial), totalNumberInnerIterations(0) { params.lambdaInitial), totalNumberInnerIterations(0),reuseDiagonal(false) {
initTime(); initTime();
} }