diff --git a/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp index 99638dc99f3a69241f3a6d983b30213757178541..a1e2bf8ff5fe9bac02d6525fd3bd548b8e006fdc 100644 --- a/demos/hello_wolf/hello_wolf_autoconf.cpp +++ b/demos/hello_wolf/hello_wolf_autoconf.cpp @@ -121,8 +121,7 @@ int main() problem->print(4, 0, 1, 0); // Solver. Configure a Ceres solver - SolverManagerPtr ceres = - SolverManager::autoSetup(problem, server.getNode()["solver"], {wolf_path}); + SolverManagerPtr ceres = SolverManager::autoSetup(problem, server.getNode()["solver"], {wolf_path}); if (not ceres) { WOLF_ERROR("Couldn't load or validate the yaml file for the solver"); diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h index 6e4493691848ede6165078d534baa3aaff8940c5..f2e057674a608c7c4451718d77d6b1924a4461db 100644 --- a/include/core/solver/solver_manager.h +++ b/include/core/solver/solver_manager.h @@ -133,13 +133,13 @@ class SolverManager static SolverManagerPtr autoSetup(const ProblemPtr& _problem, const std::string& _input_yaml_file, std::vector<std::string> _primary_schema_folders, - LoaderPtr _loader = nullptr, + LoaderPtr _loader = nullptr, bool _skip_yaml_validation = false); static SolverManagerPtr autoSetup(const ProblemPtr& _problem, YAML::Node _param_node, std::vector<std::string> _primary_schema_folders, - LoaderPtr _loader = nullptr, + LoaderPtr _loader = nullptr, bool _skip_yaml_validation = false); virtual ~SolverManager(); diff --git a/src/ceres_wrapper/solver_ceres.cpp b/src/ceres_wrapper/solver_ceres.cpp index 9eb429ae462ba42fd5233270322577f617596217..1012ee97b027a960d44fa5887c7f9c1ad462c929 100644 --- a/src/ceres_wrapper/solver_ceres.cpp +++ b/src/ceres_wrapper/solver_ceres.cpp @@ -896,10 +896,11 @@ bool SolverCeres::hasThisLocalParametrizationDerived(const StateBlockPtr& void SolverCeres::printProfilingDerived(std::ostream& _stream) const { - _stream << "Iterations:" << "\n\tUser-defined limit: " << solver_options_.max_num_iterations + _stream << "Iterations:" + << "\n\tUser-defined limit: " << solver_options_.max_num_iterations << "\n\tAverage iterations: " << n_iter_acc_ / n_solve_ - << "\n\tMax. iterations: " << n_iter_max_ - << "\nTermination:" << "\n\tConvergence: " << 1e2 * n_convergence_ / n_solve_ << " %" + << "\n\tMax. iterations: " << n_iter_max_ << "\nTermination:" + << "\n\tConvergence: " << 1e2 * n_convergence_ / n_solve_ << " %" << "\n\tInterrupted by problem change: " << 1e2 * n_interrupted_ / n_solve_ << " %" << "\n\tMax. iterations reached: " << 1e2 * n_no_convergence_ / n_solve_ << " %" << std::endl; } diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp index 1a90e6f7a507ef7d5e0da3ee8b05c07ebadb1de4..6a00a2cdaa56903c360f54ff77050633ff9ee8da 100644 --- a/test/gtest_solver_manager.cpp +++ b/test/gtest_solver_manager.cpp @@ -132,9 +132,8 @@ TEST(SolverManagerFactories, autoSetupNode) TEST(SolverManagerFactories, autoSetupFile) { - auto problem = Problem::create(3); - auto solver_ptr = - SolverManager::autoSetup(problem, wolf_dir + "/test/yaml/solver_dummy.yaml", {wolf_dir}); + auto problem = Problem::create(3); + auto solver_ptr = SolverManager::autoSetup(problem, wolf_dir + "/test/yaml/solver_dummy.yaml", {wolf_dir}); // check pointers EXPECT_EQ(problem, solver_ptr->getProblem());