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added output message for TRYLAMBDA verbosity level

release/4.3a0
Luca 2014-04-21 19:18:21 -04:00
parent dd780e356c
commit e98c4c2ac2
1 changed files with 5 additions and 1 deletions
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6
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -291,10 +291,14 @@ 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;
}
}
}
if (step_is_successful) { // we have successfully decreased the cost and we have good modelFidelity
state_.values.swap(newValues);