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restored reset

release/4.3a0
Frank Dellaert 2010-01-17 15:09:28 +00:00
parent 80b3813a16
commit 5c6cfec7ab
1 changed files with 3 additions and 2 deletions
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cpp/iterative-inl.h
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@ -49,8 +49,9 @@ namespace gtsam {
if (k==maxIterations) break; if (k==maxIterations) break;
// update gradient (or re-calculate at reset time) // update gradient (or re-calculate at reset time)
// g = (k%reset==0) ? Ab.gradient(x) : g + alpha * (Ab ^ Ad); g = (k%reset==0) ? Ab.gradient(x) : g + alpha * (Ab ^ Ad);
g = g + alpha * (Ab ^ Ad); // g = g + alpha * (Ab ^ Ad);
// g = Ab.gradient(x);
// check for convergence // check for convergence
double dotg = dot(g, g); double dotg = dot(g, g);