GradientAtZero now negative

2015-03-05 12:53:25 -08:00 · 2015-03-05 12:53:25 -08:00 · 1d8b14384b
parent d095933527
commit 1d8b14384b
1 changed files with 1 additions and 1 deletions
--- 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