comment out overflow exception
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				|  | @ -28,9 +28,9 @@ namespace gtsam { | |||
| 		double absoluteDecrease = currentError - newError; | ||||
| 		if (verbosity >= 2) | ||||
| 			cout << "absoluteDecrease: " << absoluteDecrease << endl; | ||||
| 		if (absoluteDecrease < 0) | ||||
| 			throw overflow_error( | ||||
| 					"NonlinearFactorGraph::optimize: error increased, diverges."); | ||||
| //		if (absoluteDecrease < 0)
 | ||||
| //			throw overflow_error(
 | ||||
| //					"NonlinearFactorGraph::optimize: error increased, diverges.");
 | ||||
| 
 | ||||
| 		// calculate relative error decrease and update currentError
 | ||||
| 		double relativeDecrease = absoluteDecrease / currentError; | ||||
|  |  | |||
|  | @ -50,6 +50,7 @@ namespace gtsam { | |||
| 	VectorConfig SubgraphPCG<Graph, Config>::linearizeAndOptimize(const Graph& g, | ||||
| 			const Config& theta_bar, const Ordering& ordering) const { | ||||
| 
 | ||||
| 		//TODO: 3 is hard coded here
 | ||||
| 		VectorConfig zeros; | ||||
| 		BOOST_FOREACH(const Symbol& j, ordering) zeros.insert(j,zero(3)); | ||||
| 
 | ||||
|  |  | |||
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