From a558ad042e0ddab5606d40a66aa2e1c3dbb38165 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 19 Mar 2012 16:55:45 +0000 Subject: [PATCH] Changed default wildfireThreshold for Dogleg from 0.0 to 1e-5 --- gtsam/nonlinear/ISAM2.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h index ca688ecc0..b967eadc4 100644 --- a/gtsam/nonlinear/ISAM2.h +++ b/gtsam/nonlinear/ISAM2.h @@ -61,7 +61,7 @@ struct ISAM2DoglegParams { /** Specify parameters as constructor arguments */ ISAM2DoglegParams( double _initialDelta = 1.0, ///< see ISAM2DoglegParams::initialDelta - double _wildfireThreshold = 0.0, ///< see ISAM2DoglegParams::wildfireThreshold + double _wildfireThreshold = 1e-5, ///< see ISAM2DoglegParams::wildfireThreshold DoglegOptimizerImpl::TrustRegionAdaptationMode _adaptationMode = DoglegOptimizerImpl::SEARCH_EACH_ITERATION, ///< see ISAM2DoglegParams::adaptationMode bool _verbose = false ///< see ISAM2DoglegParams::verbose ) : initialDelta(_initialDelta), wildfireThreshold(_wildfireThreshold),