From c9c61aa6625d0d5028a6b79d94934a846c8ffb44 Mon Sep 17 00:00:00 2001 From: Alex Cunningham Date: Wed, 7 Sep 2011 20:10:15 +0000 Subject: [PATCH] Defaults nonlinear optimization to using LDL if possible --- gtsam/nonlinear/NonlinearOptimizationParameters.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/NonlinearOptimizationParameters.h b/gtsam/nonlinear/NonlinearOptimizationParameters.h index 602f2f79f..158431d70 100644 --- a/gtsam/nonlinear/NonlinearOptimizationParameters.h +++ b/gtsam/nonlinear/NonlinearOptimizationParameters.h @@ -68,7 +68,7 @@ struct NonlinearOptimizationParameters { NonlinearOptimizationParameters(double absDecrease, double relDecrease, double sumError, int iIters = 100, double lambda = 1e-5, double lambdaFactor = 10, - verbosityLevel v = SILENT, LambdaMode lambdaMode = BOUNDED, bool useQR = true) + verbosityLevel v = SILENT, LambdaMode lambdaMode = BOUNDED, bool useQR = false) :absDecrease_(absDecrease), relDecrease_(relDecrease), sumError_(sumError), maxIterations_(iIters), lambda_(lambda), lambdaFactor_(lambdaFactor), verbosity_(v), lambdaMode_(lambdaMode), useQR_(useQR) {}