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faster computation of sigmas in NoiseModel

release/4.3a0
Varun Agrawal 2020-03-17 16:44:10 -04:00
parent b0f7d3498b
commit 1cb7b223ae
1 changed files with 2 additions and 2 deletions
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4
gtsam/linear/NoiseModel.cpp
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@ -143,8 +143,8 @@ bool Gaussian::equals(const Base& expected, double tol) const {
/* ************************************************************************* */
Vector Gaussian::sigmas() const {
// TODO(frank): can this be done faster?
return Vector((thisR().transpose() * thisR()).inverse().diagonal()).cwiseSqrt();
Matrix Rinv = thisR().inverse(); // inverse of triangular matrix is fast
return Vector((Rinv * Rinv.transpose()).diagonal()).cwiseSqrt();
}
/* ************************************************************************* */