From 0e6676c082816481080ddaf01895983d12b8e94b Mon Sep 17 00:00:00 2001
From: Anthony Cowley <acowley@gmail.com>
Date: Mon, 9 Jan 2023 12:30:44 -0500
Subject: [PATCH] BatchFixedLagSmoother: add ability to limit warning debug
 prints

This mimics the behavior of `LevenbergMarquardtOptimizer.cpp`.
---
 gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
index fd18e7c6dc..18c664934d 100644
--- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
+++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
@@ -282,9 +282,12 @@ FixedLagSmoother::Result BatchFixedLagSmoother::optimize() {
           // Reject this change
           if (lambda >= lambdaUpperBound) {
             // The maximum lambda has been used. Print a warning and end the search.
-            cout
+            if(parameters_.verbosity >= NonlinearOptimizerParams::TERMINATION
+               || parameters_.verbosityLM == LevenbergMarquardtParams::SUMMARY) {
+              cout
                 << "Warning:  Levenberg-Marquardt giving up because cannot decrease error with maximum lambda"
                 << endl;
+            }
             break;
           } else {
             // Increase lambda and continue searching