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linearPrepare for GaussianNewton

release/4.3a0
Kai Ni 2010-06-06 17:42:56 +00:00
parent 9ddeaa91c6
commit 2236f75527
1 changed files with 2 additions and 1 deletions
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3
cpp/NonlinearOptimizer-inl.h
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@ -68,7 +68,8 @@ namespace gtsam {
template<class G, class C, class L, class S, class W>
VectorConfig NonlinearOptimizer<G, C, L, S, W>::linearizeAndOptimizeForDelta() const {
boost::shared_ptr<L> linearized = solver_->linearize(*graph_, *config_);
return solver_->optimize(*linearized);
NonlinearOptimizer prepared(graph_, config_, solver_->prepareLinear(*linearized), error_, lambda_);
return prepared.solver_->optimize(*linearized);
}
/* ************************************************************************* */