A mark corresponding to recording data is formed on an optical disk by: encoding the recording data in accordance with a modulation code and generating encoded data; classifying the encoded data by a combination of at least two of a mark length of a mark, a space length of a preceding space, the mark length of a preceding mark, and the space length of a succeeding space; setting a correction amount for adjusting the position of the start edge and the end edge of a recording pulse based on an evaluation index of a decoding result, which is a result of decoding a reproduction signal of the encoded data, for each of the classification; and generating the recording pulse corresponding to the encoded data by using the correction amount corresponding to the classification of the run length of the encoded data.