More documentation updates
Change-Id: I762bd28b4ebc327d39a572990e02157ef55ad617
diff --git a/include/ceres/solver.h b/include/ceres/solver.h
index d339bcc..854df2a 100644
--- a/include/ceres/solver.h
+++ b/include/ceres/solver.h
@@ -97,13 +97,13 @@
num_linear_solver_threads = 1;
linear_solver_ordering = NULL;
use_postordering = false;
- use_inner_iterations = false;
- inner_iteration_tolerance = 1e-3;
- inner_iteration_ordering = NULL;
linear_solver_min_num_iterations = 1;
linear_solver_max_num_iterations = 500;
eta = 1e-1;
jacobi_scaling = true;
+ use_inner_iterations = false;
+ inner_iteration_tolerance = 1e-3;
+ inner_iteration_ordering = NULL;
logging_type = PER_MINIMIZER_ITERATION;
minimizer_progress_to_stdout = false;
lsqp_dump_directory = "/tmp";
@@ -441,7 +441,8 @@
//
// 2. Specify a collection of of ordered independent sets. Where
// the lower numbered groups are optimized before the higher
- // number groups. Each group must be an independent set.
+ // number groups. Each group must be an independent set. Not
+ // all parameter blocks need to be present in the ordering.
ParameterBlockOrdering* inner_iteration_ordering;
// Generally speaking, inner iterations make significant progress
@@ -449,9 +450,10 @@
// drops down sharply, at which point the time spent doing inner
// iterations is not worth it.
//
- // Once the relative decrease in the objective function drops
- // below inner_iteration_tolerance, the use of inner iterations
- // in subsequent trust region minimizer iterations is disabled.
+ // Once the relative decrease in the objective function due to
+ // inner iterations drops below inner_iteration_tolerance, the use
+ // of inner iterations in subsequent trust region minimizer
+ // iterations is disabled.
double inner_iteration_tolerance;
// Minimum number of iterations for which the linear solver should
