From 26f1f3fa4fc191144c6bc9aaec9a88619b2b1dda Mon Sep 17 00:00:00 2001 From: Yong-Dian Jian Date: Sun, 3 Jun 2012 15:07:10 +0000 Subject: [PATCH] --- gtsam/linear/SimpleSPCGSolver.cpp | 3 ++- gtsam/linear/SimpleSPCGSolver.h | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/SimpleSPCGSolver.cpp b/gtsam/linear/SimpleSPCGSolver.cpp index 4379d70e4..e7cef9e64 100644 --- a/gtsam/linear/SimpleSPCGSolver.cpp +++ b/gtsam/linear/SimpleSPCGSolver.cpp @@ -49,7 +49,8 @@ SimpleSPCGSolver::SimpleSPCGSolver(const GaussianFactorGraph &gfg, const Paramet nVar_ = colSpec.size(); - /* split the factor graph into At (tree) and Ac (constraints) */ + /* Split the factor graph into At (tree) and Ac (constraints) + * Note: This part has to be refined for your graph/application */ GaussianFactorGraph::shared_ptr At; boost::tie(At, Ac_) = this->splitGraph(gfg); diff --git a/gtsam/linear/SimpleSPCGSolver.h b/gtsam/linear/SimpleSPCGSolver.h index 416826cc7..c7367f663 100644 --- a/gtsam/linear/SimpleSPCGSolver.h +++ b/gtsam/linear/SimpleSPCGSolver.h @@ -78,7 +78,8 @@ protected: /* return x = Rt^{-1} y + x_t */ VectorValues::shared_ptr transform(const VectorValues &y); - /* naively split a gaussian factor graph into tree and constraint parts */ + /* naively split a gaussian factor graph into tree and constraint parts + * Note: This function has to be refined for your graph/application */ boost::tuple::shared_ptr> splitGraph(const GaussianFactorGraph &gfg);