From f89ffdc81cd6a09465cb3779e86478c84595c1bf Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@skyd.io>
Date: Thu, 11 Jun 2015 23:11:24 -0700
Subject: [PATCH] Restored defaults (test failed)

---
 gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 72 +++++++------------
 1 file changed, 26 insertions(+), 46 deletions(-)

diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
index 04b2d9e8d..315e95512 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
@@ -59,60 +59,40 @@ public:
   double min_diagonal_; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6)
   double max_diagonal_; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32)
 
-  LevenbergMarquardtParams() :
-      lambdaInitial(1e-4), lambdaFactor(2.0), lambdaUpperBound(1e5), lambdaLowerBound(
-          0.0), verbosityLM(SILENT), minModelFidelity(1e-3),
-          diagonalDamping(true), reuse_diagonal_(false), useFixedLambdaFactor_(true),
-          min_diagonal_(1e-6), max_diagonal_(1e32) {
-  }
-  virtual ~LevenbergMarquardtParams() {
-  }
+  LevenbergMarquardtParams()
+      : lambdaInitial(1e-5),
+        lambdaFactor(10.0),
+        lambdaUpperBound(1e5),
+        lambdaLowerBound(0.0),
+        verbosityLM(SILENT),
+        minModelFidelity(1e-3),
+        diagonalDamping(false),
+        reuse_diagonal_(false),
+        useFixedLambdaFactor_(true),
+        min_diagonal_(1e-6),
+        max_diagonal_(1e32) {}
 
+  virtual ~LevenbergMarquardtParams() {}
   virtual void print(const std::string& str = "") const;
-
-  inline double getlambdaInitial() const {
-    return lambdaInitial;
-  }
-  inline double getlambdaFactor() const {
-    return lambdaFactor;
-  }
-  inline double getlambdaUpperBound() const {
-    return lambdaUpperBound;
-  }
-  inline double getlambdaLowerBound() const {
-    return lambdaLowerBound;
-  }
+  inline double getlambdaInitial() const { return lambdaInitial; }
+  inline double getlambdaFactor() const { return lambdaFactor; }
+  inline double getlambdaUpperBound() const { return lambdaUpperBound; }
+  inline double getlambdaLowerBound() const { return lambdaLowerBound; }
   inline std::string getVerbosityLM() const {
     return verbosityLMTranslator(verbosityLM);
   }
-  inline std::string getLogFile() const {
-    return logFile;
-  }
-  inline bool getDiagonalDamping() const {
-    return diagonalDamping;
-  }
+  inline std::string getLogFile() const { return logFile; }
+  inline bool getDiagonalDamping() const { return diagonalDamping; }
 
-  inline void setlambdaInitial(double value) {
-    lambdaInitial = value;
-  }
-  inline void setlambdaFactor(double value) {
-    lambdaFactor = value;
-  }
-  inline void setlambdaUpperBound(double value) {
-    lambdaUpperBound = value;
-  }
-  inline void setlambdaLowerBound(double value) {
-    lambdaLowerBound = value;
-  }
-  inline void setVerbosityLM(const std::string &s) {
+  inline void setlambdaInitial(double value) { lambdaInitial = value; }
+  inline void setlambdaFactor(double value) { lambdaFactor = value; }
+  inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; }
+  inline void setlambdaLowerBound(double value) { lambdaLowerBound = value; }
+  inline void setVerbosityLM(const std::string& s) {
     verbosityLM = verbosityLMTranslator(s);
   }
-  inline void setLogFile(const std::string &s) {
-    logFile = s;
-  }
-  inline void setDiagonalDamping(bool flag) {
-    diagonalDamping = flag;
-  }
+  inline void setLogFile(const std::string& s) { logFile = s; }
+  inline void setDiagonalDamping(bool flag) { diagonalDamping = flag; }
   inline void setUseFixedLambdaFactor(bool flag) {
     useFixedLambdaFactor_ = flag;
   }