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Avoid redundant calls to error()

release/4.3a0
Jose Luis Blanco-Claraco 2020-11-08 11:07:50 +01:00
parent 8d6bbd9223
commit c5c54da588
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GPG Key ID: D443304FBD70A641
1 changed files with 7 additions and 3 deletions
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10
gtsam/nonlinear/NonlinearOptimizer.cpp
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@ -88,20 +88,24 @@ void NonlinearOptimizer::defaultOptimize() {
} }
// Iterative loop // Iterative loop
double newError = currentError; // used to avoid repeated calls to error()
do { do {
// Do next iteration // Do next iteration
currentError = error(); // TODO(frank): don't do this twice at first !? Computed above! currentError = newError;
iterate(); iterate();
tictoc_finishedIteration(); tictoc_finishedIteration();
// Update newError for either printouts or conditional-end checks:
newError = error();
// Maybe show output // Maybe show output
if (params.verbosity >= NonlinearOptimizerParams::VALUES) if (params.verbosity >= NonlinearOptimizerParams::VALUES)
values().print("newValues"); values().print("newValues");
if (params.verbosity >= NonlinearOptimizerParams::ERROR) if (params.verbosity >= NonlinearOptimizerParams::ERROR)
cout << "newError: " << error() << endl; cout << "newError: " << newError << endl;
} while (iterations() < params.maxIterations && } while (iterations() < params.maxIterations &&
!checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol, !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol,
currentError, error(), params.verbosity) && std::isfinite(currentError)); currentError, newError, params.verbosity) && std::isfinite(currentError));
// Printing if verbose // Printing if verbose
if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) { if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) {