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Slight rename for clarity

release/4.3a0
dellaert 2014-03-05 23:25:00 -05:00
parent f8c7099356
commit 0897e04c37
1 changed files with 16 additions and 11 deletions
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27
gtsam/linear/HessianFactor.cpp
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@ -537,7 +537,7 @@ void HessianFactor::multiplyHessianAdd(double alpha, const VectorValues& x,
/* ************************************************************************* */ /* ************************************************************************* */
void HessianFactor::multiplyHessianAdd(double alpha, const double* x, void HessianFactor::multiplyHessianAdd(double alpha, const double* x,
double* yvalues, vector<size_t> keys) const { double* yvalues, vector<size_t> offsets) const {
// Use eigen magic to access raw memory // Use eigen magic to access raw memory
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> DVector; typedef Eigen::Matrix<double, Eigen::Dynamic, 1> DVector;
@ -553,22 +553,27 @@ void HessianFactor::multiplyHessianAdd(double alpha, const double* x,
// Accessing the VectorValues one by one is expensive // Accessing the VectorValues one by one is expensive
// So we will loop over columns to access x only once per column // So we will loop over columns to access x only once per column
// And fill the above temporary y values, to be added into yvalues after // And fill the above temporary y values, to be added into yvalues after
for (DenseIndex j = 0; j < (DenseIndex)size(); ++j) { for (DenseIndex j = 0; j < (DenseIndex) size(); ++j) {
DenseIndex i = 0; DenseIndex i = 0;
for (; i < j; ++i) for (; i < j; ++i)
y[i] += info_(i, j).knownOffDiagonal() * ConstDMap(x+keys[keys_[j]],keys[keys_[j]+1]-keys[keys_[j]]); y[i] += info_(i, j).knownOffDiagonal()
* ConstDMap(x + offsets[keys_[j]],
offsets[keys_[j] + 1] - offsets[keys_[j]]);
// blocks on the diagonal are only half // blocks on the diagonal are only half
y[i] += info_(j, j).selfadjointView() * ConstDMap(x+keys[keys_[j]],keys[keys_[j]+1]-keys[keys_[j]]); y[i] += info_(j, j).selfadjointView()
* ConstDMap(x + offsets[keys_[j]],
offsets[keys_[j] + 1] - offsets[keys_[j]]);
// for below diagonal, we take transpose block from upper triangular part // for below diagonal, we take transpose block from upper triangular part
for (i = j + 1; i < (DenseIndex)size(); ++i) for (i = j + 1; i < (DenseIndex) size(); ++i)
y[i] += info_(i, j).knownOffDiagonal() * ConstDMap(x+keys[keys_[j]],keys[keys_[j]+1]-keys[keys_[j]]); y[i] += info_(i, j).knownOffDiagonal()
* ConstDMap(x + offsets[keys_[j]],
offsets[keys_[j] + 1] - offsets[keys_[j]]);
} }
// copy to yvalues // copy to yvalues
for(DenseIndex i = 0; i < (DenseIndex)size(); ++i) for (DenseIndex i = 0; i < (DenseIndex) size(); ++i)
DMap(yvalues+keys[keys_[i]],keys[keys_[i]+1]-keys[keys_[i]]) += alpha * y[i]; DMap(yvalues + offsets[keys_[i]], offsets[keys_[i] + 1] - offsets[keys_[i]]) +=
alpha * y[i];
} }