comment out overflow exception
parent
ef2fb243c2
commit
ebbdfc79aa
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@ -28,9 +28,9 @@ namespace gtsam {
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double absoluteDecrease = currentError - newError;
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if (verbosity >= 2)
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cout << "absoluteDecrease: " << absoluteDecrease << endl;
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if (absoluteDecrease < 0)
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throw overflow_error(
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"NonlinearFactorGraph::optimize: error increased, diverges.");
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// if (absoluteDecrease < 0)
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// throw overflow_error(
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// "NonlinearFactorGraph::optimize: error increased, diverges.");
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// calculate relative error decrease and update currentError
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double relativeDecrease = absoluteDecrease / currentError;
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@ -50,6 +50,7 @@ namespace gtsam {
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VectorConfig SubgraphPCG<Graph, Config>::linearizeAndOptimize(const Graph& g,
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const Config& theta_bar, const Ordering& ordering) const {
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//TODO: 3 is hard coded here
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VectorConfig zeros;
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BOOST_FOREACH(const Symbol& j, ordering) zeros.insert(j,zero(3));
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