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Markus Moll
47d26bcd3b
In the TrustRegionMinimizer, the step is currently implicitly negated. This is done so that the linearized residual is |r - J*step|^2, which corresponds to J*step = r, so neither J nor r have to be modified. However, it leads to the rather unintuitive situation that the strategy returns a step in positive gradient direction, which you would expect to increase the function value. One way is to rename the "step" parameter in the strategy to "negative_step" and document it. This patch instead moves the negation inside the strategy, just around the linear solver call, so that it is done in a local context and easier to document. Change-Id: Idb258149a01f61c64e22128ea221c5a30cd89c89
Ceres Solver - A non-linear least squares minimizer ================================================== Please see ceres-solver.pdf in docs/ for a tutorial and reference.