From 71e757d2cf7a04ff9e9a7b24becc16977e5adb98 Mon Sep 17 00:00:00 2001 From: Duy-Nguyen Ta Date: Sun, 5 Feb 2012 23:00:57 +0000 Subject: [PATCH] fix typo in "newDrecreaseThresholds" in NonlinearOptimizationParams --- examples/Pose2SLAMExample_advanced.cpp | 2 +- gtsam.h | 2 +- gtsam/nonlinear/NonlinearOptimizationParameters.cpp | 2 +- gtsam/nonlinear/NonlinearOptimizationParameters.h | 2 +- gtsam/slam/tests/testPose2SLAM.cpp | 6 +++--- gtsam/slam/tests/testPose3SLAM.cpp | 2 +- 6 files changed, 8 insertions(+), 8 deletions(-) diff --git a/examples/Pose2SLAMExample_advanced.cpp b/examples/Pose2SLAMExample_advanced.cpp index bb7f60516..cab263047 100644 --- a/examples/Pose2SLAMExample_advanced.cpp +++ b/examples/Pose2SLAMExample_advanced.cpp @@ -68,7 +68,7 @@ int main(int argc, char** argv) { Ordering::shared_ptr ordering = graph->orderingCOLAMD(*initial); /* 4.2.2 set up solver and optimize */ - NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); + NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDecreaseThresholds(1e-15, 1e-15); Optimizer optimizer(graph, initial, ordering, params); Optimizer optimizer_result = optimizer.levenbergMarquardt(); diff --git a/gtsam.h b/gtsam.h index 5f11d88ad..970980108 100644 --- a/gtsam.h +++ b/gtsam.h @@ -389,7 +389,7 @@ class NonlinearOptimizationParameters { NonlinearOptimizationParameters(double absDecrease, double relDecrease, double sumError, int iIters, double lambda, double lambdaFactor); void print(string s) const; - static gtsam::NonlinearOptimizationParameters* newDrecreaseThresholds(double absDecrease, + static gtsam::NonlinearOptimizationParameters* newDecreaseThresholds(double absDecrease, double relDecrease); }; diff --git a/gtsam/nonlinear/NonlinearOptimizationParameters.cpp b/gtsam/nonlinear/NonlinearOptimizationParameters.cpp index 4da8fc7a5..e80c3b59c 100644 --- a/gtsam/nonlinear/NonlinearOptimizationParameters.cpp +++ b/gtsam/nonlinear/NonlinearOptimizationParameters.cpp @@ -102,7 +102,7 @@ NonlinearOptimizationParameters::newLambda(double lambda) { /* ************************************************************************* */ NonlinearOptimizationParameters::shared_ptr -NonlinearOptimizationParameters::newDrecreaseThresholds(double absDecrease, +NonlinearOptimizationParameters::newDecreaseThresholds(double absDecrease, double relDecrease) { shared_ptr ptr(boost::make_shared()); ptr->absDecrease_ = absDecrease; diff --git a/gtsam/nonlinear/NonlinearOptimizationParameters.h b/gtsam/nonlinear/NonlinearOptimizationParameters.h index 68595b711..07e01ea58 100644 --- a/gtsam/nonlinear/NonlinearOptimizationParameters.h +++ b/gtsam/nonlinear/NonlinearOptimizationParameters.h @@ -110,7 +110,7 @@ namespace gtsam { static shared_ptr newLambda(double lambda); /// a copy of old instance except new thresholds - static shared_ptr newDrecreaseThresholds(double absDecrease, + static shared_ptr newDecreaseThresholds(double absDecrease, double relDecrease); /// a copy of old instance except new QR flag diff --git a/gtsam/slam/tests/testPose2SLAM.cpp b/gtsam/slam/tests/testPose2SLAM.cpp index a8828a83a..73fec2a29 100644 --- a/gtsam/slam/tests/testPose2SLAM.cpp +++ b/gtsam/slam/tests/testPose2SLAM.cpp @@ -162,7 +162,7 @@ TEST(Pose2Graph, optimize) { *ordering += "x0","x1"; typedef NonlinearOptimizer Optimizer; - NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); + NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDecreaseThresholds(1e-15, 1e-15); Optimizer optimizer0(fg, initial, ordering, params); Optimizer optimizer = optimizer0.levenbergMarquardt(); @@ -200,7 +200,7 @@ TEST(Pose2Graph, optimizeThreePoses) { *ordering += "x0","x1","x2"; // optimize - NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); + NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDecreaseThresholds(1e-15, 1e-15); pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params); pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt(); @@ -243,7 +243,7 @@ TEST_UNSAFE(Pose2SLAM, optimizeCircle) { *ordering += "x0","x1","x2","x3","x4","x5"; // optimize - NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); + NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDecreaseThresholds(1e-15, 1e-15); pose2SLAM::Optimizer optimizer0(fg, initial, ordering, params); pose2SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt(); diff --git a/gtsam/slam/tests/testPose3SLAM.cpp b/gtsam/slam/tests/testPose3SLAM.cpp index 03ca40dfa..79cc9fe1e 100644 --- a/gtsam/slam/tests/testPose3SLAM.cpp +++ b/gtsam/slam/tests/testPose3SLAM.cpp @@ -77,7 +77,7 @@ TEST(Pose3Graph, optimizeCircle) { // Choose an ordering and optimize shared_ptr ordering(new Ordering); *ordering += "x0","x1","x2","x3","x4","x5"; - NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDrecreaseThresholds(1e-15, 1e-15); + NonlinearOptimizationParameters::shared_ptr params = NonlinearOptimizationParameters::newDecreaseThresholds(1e-15, 1e-15); pose3SLAM::Optimizer optimizer0(fg, initial, ordering, params); pose3SLAM::Optimizer optimizer = optimizer0.levenbergMarquardt();