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correctly parse optimizer params for base optimizer in gnc #1085

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merged 2 commits into from
Feb 19, 2022
Merged

correctly parse optimizer params for base optimizer in gnc #1085

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f340e62
correctly parse optimizer params for base optimizer in gnc
yunzc Dec 24, 2021
31e1a71
added unit test on params
Feb 19, 2022
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6 changes: 4 additions & 2 deletions gtsam/nonlinear/GncOptimizer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -183,7 +183,8 @@ class GTSAM_EXPORT GncOptimizer {
/// Compute optimal solution using graduated non-convexity.
Values optimize() {
NonlinearFactorGraph graph_initial = this->makeWeightedGraph(weights_);
BaseOptimizer baseOptimizer(graph_initial, state_);
BaseOptimizer baseOptimizer(
graph_initial, state_, params_.baseOptimizerParams);
Values result = baseOptimizer.optimize();
double mu = initializeMu();
double prev_cost = graph_initial.error(result);
Expand Down Expand Up @@ -227,7 +228,8 @@ class GTSAM_EXPORT GncOptimizer {

// variable/values update
NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights_);
BaseOptimizer baseOptimizer_iter(graph_iter, state_);
BaseOptimizer baseOptimizer_iter(
graph_iter, state_, params_.baseOptimizerParams);
result = baseOptimizer_iter.optimize();

// stopping condition
Expand Down