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correctly parse optimizer params for base optimizer in gnc

release/4.3a0
Yun Chang 2021-12-23 20:44:03 -05:00
parent 59d902760e
commit f340e6260e
1 changed files with 4 additions and 2 deletions
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6
gtsam/nonlinear/GncOptimizer.h
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@ -183,7 +183,8 @@ class GTSAM_EXPORT GncOptimizer {
/// Compute optimal solution using graduated non-convexity. /// Compute optimal solution using graduated non-convexity.
Values optimize() { Values optimize() {
NonlinearFactorGraph graph_initial = this->makeWeightedGraph(weights_); NonlinearFactorGraph graph_initial = this->makeWeightedGraph(weights_);
BaseOptimizer baseOptimizer(graph_initial, state_); BaseOptimizer baseOptimizer(
graph_initial, state_, params_.baseOptimizerParams);
Values result = baseOptimizer.optimize(); Values result = baseOptimizer.optimize();
double mu = initializeMu(); double mu = initializeMu();
double prev_cost = graph_initial.error(result); double prev_cost = graph_initial.error(result);
@ -227,7 +228,8 @@ class GTSAM_EXPORT GncOptimizer {
// variable/values update // variable/values update
NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights_); NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights_);
BaseOptimizer baseOptimizer_iter(graph_iter, state_); BaseOptimizer baseOptimizer_iter(
graph_iter, state_, params_.baseOptimizerParams);
result = baseOptimizer_iter.optimize(); result = baseOptimizer_iter.optimize();
// stopping condition // stopping condition