12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added tic

release/4.3a0
Richard Roberts 2013-07-01 20:19:28 +00:00
parent 88f906e3d5
commit 316befbd2a
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/linear/NoiseModel.cpp
View File

@ -110,6 +110,8 @@ void Gaussian::WhitenInPlace(Matrix& H) const {
// General QR, see also special version in Constrained // General QR, see also special version in Constrained
SharedDiagonal Gaussian::QR(Matrix& Ab) const { SharedDiagonal Gaussian::QR(Matrix& Ab) const {
gttic(Gaussian_noise_model_QR);
static const bool debug = false; static const bool debug = false;
// get size(A) and maxRank // get size(A) and maxRank
@ -129,7 +131,7 @@ SharedDiagonal Gaussian::QR(Matrix& Ab) const {
// TODO: necessary to isolate last column? // TODO: necessary to isolate last column?
// householder(Ab, maxRank); // householder(Ab, maxRank);
return Unit::Create(maxRank); return SharedDiagonal();
} }
void Gaussian::WhitenSystem(vector<Matrix>& A, Vector& b) const { void Gaussian::WhitenSystem(vector<Matrix>& A, Vector& b) const {