Don't attempt any damping if no key found in diagonal

2014-03-05 23:25:15 -05:00 · 2014-03-05 23:25:15 -05:00 · bb3820780d
parent 0897e04c37
commit bb3820780d
1 changed files with 2 additions and 1 deletions
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@ -145,7 +145,8 @@ GaussianFactorGraph LevenbergMarquardtOptimizer::buildDampedSystem(
      try {
        A.diagonal() = state_.hessianDiagonal.at(key_value.key);
      } catch (std::exception e) {
-        // Don't attempt diagonal damping if no key given
+        // Don't attempt any damping if no key found in diagonal
+        continue;
      }
    Vector b = Vector::Zero(dim);
    SharedDiagonal model = noiseModel::Isotropic::Sigma(dim, sigma);