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lower bound on lambda in the right place

release/4.3a0
Luca 2014-02-26 12:56:41 -05:00
parent c3f0bf4949
commit a90c5797e0
1 changed files with 1 additions and 1 deletions
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gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -99,10 +99,10 @@ void LevenbergMarquardtOptimizer::decreaseLambda(double stepQuality){
}else{ }else{
// CHECK_GT(step_quality, 0.0); // CHECK_GT(step_quality, 0.0);
state_.lambda *= std::max(1.0 / 3.0, 1.0 - pow(2.0 * stepQuality - 1.0, 3)); state_.lambda *= std::max(1.0 / 3.0, 1.0 - pow(2.0 * stepQuality - 1.0, 3));
state_.lambda = std::max(params_.lambdaLowerBound, state_.lambda);
params_.lambdaFactor = 2.0; params_.lambdaFactor = 2.0;
// reuse_diagonal_ = false; // reuse_diagonal_ = false;
} }
state_.lambda = std::max(params_.lambdaLowerBound, state_.lambda);
} }
/* ************************************************************************* */ /* ************************************************************************* */