diff --git a/src/steering-method/cross-state-optimization.cc b/src/steering-method/cross-state-optimization.cc index 7d5ccb9dbcd14ca553ac876877a745ae0f5613e1..9298e0eb57cde86d31008fbaa2ca2b30b0b6a99b 100644 --- a/src/steering-method/cross-state-optimization.cc +++ b/src/steering-method/cross-state-optimization.cc @@ -451,8 +451,10 @@ namespace hpp { OptimizationData& d, const Edges_t& transitions) const { if (d.N == 0) return; - d.solver.maxIterations (60); - d.solver.errorThreshold (1e-4); + size_type maxIter = problem_.getParameter ("CrossStateOptimization/maxIteration", size_type(60)); + value_type thr = problem_.getParameter ("CrossStateOptimization/errorThreshold", value_type(1e-4)); + d.solver.maxIterations (maxIter); + d.solver.errorThreshold (thr); // Add graph constraints (decoupled) d.addGraphConstraints (problem_.constraintGraph());