From cc3db4f9188685ccb179566155c81786e504939d Mon Sep 17 00:00:00 2001 From: Kai Ni Date: Fri, 11 Mar 2011 05:28:53 +0000 Subject: [PATCH] immediately returns when the maximum iteration number is 0 --- gtsam/nonlinear/NonlinearOptimizer-inl.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/gtsam/nonlinear/NonlinearOptimizer-inl.h b/gtsam/nonlinear/NonlinearOptimizer-inl.h index 18ffa4044..e59a8596e 100644 --- a/gtsam/nonlinear/NonlinearOptimizer-inl.h +++ b/gtsam/nonlinear/NonlinearOptimizer-inl.h @@ -241,7 +241,11 @@ namespace gtsam { return *this; } + // for the case that maxIterations_ = 0 iterations_ = 1; + if (iterations_ >= parameters_->maxIterations_) + return *this; + while (true) { double previous_error = error_; // do one iteration of LM