From c1650f72fdd80f6a1d1bc6c0b865db83ce2da142 Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Fri, 2 May 2014 15:23:19 -0400
Subject: [PATCH] added comments

---
 gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index f3c145ffa..689642e7f 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -275,10 +275,7 @@ void LevenbergMarquardtOptimizer::iterate() {
           step_is_successful = modelFidelity > params_.minModelFidelity;
           if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
             cout << "modelFidelity: " << modelFidelity << endl;
-        }
-        //else {
-        //  step_is_successful = true; // linearizedCostChange close to zero
-        //}
+        } // else we consider the step non successful and we either increase lambda or stop if error change is small
 
         double minAbsoluteTolerance = params_.relativeErrorTol * state_.error;
         // if the change is small we terminate