Use diagonal damping by default

2015-06-11 13:22:38 -07:00 · 2015-06-11 13:22:38 -07:00 · e140538a48
parent 635a2a0792
commit e140538a48
1 changed files with 1 additions and 1 deletions
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
@ -62,7 +62,7 @@ public:
  LevenbergMarquardtParams() :
      lambdaInitial(1e-4), lambdaFactor(2.0), lambdaUpperBound(1e5), lambdaLowerBound(
          0.0), verbosityLM(SILENT), minModelFidelity(1e-3),
-          diagonalDamping(false), reuse_diagonal_(false), useFixedLambdaFactor_(true),
+          diagonalDamping(true), reuse_diagonal_(false), useFixedLambdaFactor_(true),
          min_diagonal_(1e-6), max_diagonal_(1e32) {
  }
  virtual ~LevenbergMarquardtParams() {