Need some tolerance in limits; or rounding errors tank the entire thing
@@ -25,7 +25,7 @@ void survive_optimizer_setup_pose(survive_optimizer *mpfit_ctx, const SurvivePos
mpfit_ctx->parameters_info[i].limited[0] = mpfit_ctx->parameters_info[i].limited[1] = 1;
- mpfit_ctx->parameters_info[i].limits[0] = -(i >= 3 ? 1. : 20.);
+ mpfit_ctx->parameters_info[i].limits[0] = -(i >= 3 ? 1.0001 : 20.);
mpfit_ctx->parameters_info[i].limits[1] = -mpfit_ctx->parameters_info[i].limits[0];
if (mpfit_ctx->parameters[i] < mpfit_ctx->parameters_info[i].limits[0] ||
