Added option to use LAPACK QR with -DUSE_LAPACK_QR

gtsam/base/Matrix.cpp

@@ -649,7 +649,7 @@ void householder(Matrix &A, size_t k) {
 /** in-place householder                                                     */
 /* ************************************************************************* */
 #ifdef GT_USE_LAPACK
-#ifdef YA_BLAS
+#ifdef USE_LAPACK_QR
 void householder(Matrix &A) {
 	__CLPK_integer m = A.size1();
 	__CLPK_integer n = A.size2();

gtsam/base/Matrix.h

@@ -267,7 +267,7 @@ void householder_(Matrix& A, size_t k);
 void householder(Matrix& A, size_t k);
 
 #ifdef GT_USE_LAPACK
-#ifdef YA_BLAS
+#ifdef USE_LAPACK_QR
 /**
  * Householder tranformation, zeros below diagonal
  * @return nothing: in place !!!

gtsam/linear/NoiseModel.cpp

@@ -122,6 +122,8 @@ void Gaussian::WhitenInPlace(MatrixColMajor& H) const {
 // General QR, see also special version in Constrained
 SharedDiagonal Gaussian::QR(Matrix& Ab, boost::optional<vector<int>&> firstZeroRows) const {
 
+  assert(false);
+
 	// get size(A) and maxRank
 	// TODO: really no rank problems ?
 	size_t m = Ab.size1(), n = Ab.size2()-1;
@@ -234,7 +236,13 @@ SharedDiagonal Gaussian::QRColumnWise(ublas::matrix<double, ublas::column_major>
 
   // Perform in-place Householder
 #ifdef GT_USE_LAPACK
+#ifdef USE_LAPACK_QR
+  assert(firstZeroRows);
+  householderColMajor(Ab);
+#elif USE_DAVIS_QR
+#else
   householder_denseqr_colmajor(Ab, &firstZeroRows[0]);
+#endif
 #else
   Matrix Ab_rowWise = Ab;
   householder(Ab_rowWise, maxRank);