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Changed nonlinear convergence to <= (from <)

release/4.3a0
Richard Roberts 2012-03-24 19:53:32 +00:00
parent 5be3af8d6d
commit daae77771b
1 changed files with 4 additions and 4 deletions
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8
gtsam/nonlinear/NonlinearOptimizer.cpp
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@ -90,7 +90,7 @@ bool checkConvergence(double relativeErrorTreshold, double absoluteErrorTreshold
// check if diverges
double absoluteDecrease = currentError - newError;
if (verbosity >= 2) {
if (absoluteDecrease < absoluteErrorTreshold)
if (absoluteDecrease <= absoluteErrorTreshold)
cout << "absoluteDecrease: " << setprecision(12) << absoluteDecrease << " < " << absoluteErrorTreshold << endl;
else
cout << "absoluteDecrease: " << setprecision(12) << absoluteDecrease << " >= " << absoluteErrorTreshold << endl;
@ -99,13 +99,13 @@ bool checkConvergence(double relativeErrorTreshold, double absoluteErrorTreshold
// calculate relative error decrease and update currentError
double relativeDecrease = absoluteDecrease / currentError;
if (verbosity >= 2) {
if (relativeDecrease < relativeErrorTreshold)
if (relativeDecrease <= relativeErrorTreshold)
cout << "relativeDecrease: " << setprecision(12) << relativeDecrease << " < " << relativeErrorTreshold << endl;
else
cout << "relativeDecrease: " << setprecision(12) << relativeDecrease << " >= " << relativeErrorTreshold << endl;
}
bool converged = (relativeErrorTreshold && (relativeDecrease < relativeErrorTreshold))
|| (absoluteDecrease < absoluteErrorTreshold);
bool converged = (relativeErrorTreshold && (relativeDecrease <= relativeErrorTreshold))
|| (absoluteDecrease <= absoluteErrorTreshold);
if (verbosity >= 1 && converged) {
if(absoluteDecrease >= 0.0)
cout << "converged" << endl;