From c5c54da588f4cb8150437e417c3141c64e714cd8 Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Sun, 8 Nov 2020 11:07:50 +0100 Subject: [PATCH] Avoid redundant calls to error() --- gtsam/nonlinear/NonlinearOptimizer.cpp | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp index 9a9c487b63..fd99617427 100644 --- a/gtsam/nonlinear/NonlinearOptimizer.cpp +++ b/gtsam/nonlinear/NonlinearOptimizer.cpp @@ -88,20 +88,24 @@ void NonlinearOptimizer::defaultOptimize() { } // Iterative loop + double newError = currentError; // used to avoid repeated calls to error() do { // Do next iteration - currentError = error(); // TODO(frank): don't do this twice at first !? Computed above! + currentError = newError; iterate(); tictoc_finishedIteration(); + // Update newError for either printouts or conditional-end checks: + newError = error(); + // Maybe show output if (params.verbosity >= NonlinearOptimizerParams::VALUES) values().print("newValues"); if (params.verbosity >= NonlinearOptimizerParams::ERROR) - cout << "newError: " << error() << endl; + cout << "newError: " << newError << endl; } while (iterations() < params.maxIterations && !checkConvergence(params.relativeErrorTol, params.absoluteErrorTol, params.errorTol, - currentError, error(), params.verbosity) && std::isfinite(currentError)); + currentError, newError, params.verbosity) && std::isfinite(currentError)); // Printing if verbose if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) {