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Print extra debug information for ILS in Debug mode

release/4.3a0
Frank Dellaert 2019-05-15 22:32:13 -04:00
parent ed721a152a
commit 2527f34e75
1 changed files with 5 additions and 0 deletions
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5
gtsam/linear/HessianFactor.cpp
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@ -487,6 +487,11 @@ boost::shared_ptr<GaussianConditional> HessianFactor::eliminateCholesky(const Or
// Erase the eliminated keys in this factor // Erase the eliminated keys in this factor
keys_.erase(begin(), begin() + nFrontals); keys_.erase(begin(), begin() + nFrontals);
} catch (const CholeskyFailed&) { } catch (const CholeskyFailed&) {
#ifndef NDEBUG
cout << "Partial Cholesky on HessianFactor failed." << endl;
keys.print("Frontal keys ");
print("HessianFactor:");
#endif
throw IndeterminantLinearSystemException(keys.front()); throw IndeterminantLinearSystemException(keys.front());
} }