From a6df33b15f1e54870c75f5a8f098d6cf2772cfd3 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Fri, 23 Nov 2012 23:24:55 +0000
Subject: [PATCH] Added missing Levenberg-Marquardt verbosity printout for
 "LAMBDA" verbosity

---
 gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index f9dec6874..7dd711a15 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -160,6 +160,9 @@ void LevenbergMarquardtOptimizer::iterate() {
     }
   } // end while
 
+  if (lmVerbosity >= LevenbergMarquardtParams::LAMBDA)
+    cout << "using lambda = " << state_.lambda << endl;
+
   // Increment the iteration counter
   ++state_.iterations;
 }