From e98c4c2ac2ec6e4cb8ef359e508d538e11d75f3b Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Mon, 21 Apr 2014 19:18:21 -0400
Subject: [PATCH] added output message for TRYLAMBDA verbosity level

---
 gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index 3f7e80ed4..827df7619 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -291,8 +291,12 @@ void LevenbergMarquardtOptimizer::iterate() {
 
         double minAbsoluteTolerance = params_.relativeErrorTol * state_.error;
         // if the change is small we terminate
-        if (fabs(costChange) < minAbsoluteTolerance)
+        if (fabs(costChange) < minAbsoluteTolerance){
+          if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
+                        cout << "fabs(costChange)="<<fabs(costChange) << "  minAbsoluteTolerance="<< minAbsoluteTolerance
+                        << " (relativeErrorTol=" << params_.relativeErrorTol << ")" << endl;
           stopSearchingLambda = true;
+        }
       }
     }