diff --git a/gtsam/nonlinear/GncOptimizer.h b/gtsam/nonlinear/GncOptimizer.h index 3ddaf4820..0cd9629e7 100644 --- a/gtsam/nonlinear/GncOptimizer.h +++ b/gtsam/nonlinear/GncOptimizer.h @@ -183,7 +183,8 @@ class GTSAM_EXPORT GncOptimizer { /// Compute optimal solution using graduated non-convexity. Values optimize() { NonlinearFactorGraph graph_initial = this->makeWeightedGraph(weights_); - BaseOptimizer baseOptimizer(graph_initial, state_); + BaseOptimizer baseOptimizer( + graph_initial, state_, params_.baseOptimizerParams); Values result = baseOptimizer.optimize(); double mu = initializeMu(); double prev_cost = graph_initial.error(result); @@ -227,7 +228,8 @@ class GTSAM_EXPORT GncOptimizer { // variable/values update NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights_); - BaseOptimizer baseOptimizer_iter(graph_iter, state_); + BaseOptimizer baseOptimizer_iter( + graph_iter, state_, params_.baseOptimizerParams); result = baseOptimizer_iter.optimize(); // stopping condition