From 1d8b14384b67d1a04c5cc74f811019a47fc88548 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 12:53:25 -0800 Subject: [PATCH] GradientAtZero now negative --- gtsam/slam/RegularImplicitSchurFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index ca333134e..ae42d3087 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -436,7 +436,7 @@ public: VectorValues g; for (size_t k = 0; k < size(); ++k) { Key key = keys_[k]; - g.insert(key, -FBlocks_[k].transpose() * e2[k]); + g.insert(key, FBlocks_[k].transpose() * e2[k]); } // return it