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Reordered gradient calculation to improve computation performance

release/4.3a0
Stephen Williams 2012-04-02 20:06:00 +00:00
parent 4d9542dc70
commit 36c921bb9f
1 changed files with 4 additions and 1 deletions
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5
gtsam/nonlinear/ISAM2.h
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@ -216,7 +216,10 @@ struct ISAM2Clique : public BayesTreeCliqueBase<ISAM2Clique, GaussianConditional
Base(result.first), cachedFactor_(result.second), gradientContribution_(result.first->get_R().cols() + result.first->get_S().cols()) { Base(result.first), cachedFactor_(result.second), gradientContribution_(result.first->get_R().cols() + result.first->get_S().cols()) {
// Compute gradient contribution // Compute gradient contribution
const ConditionalType& conditional(*result.first); const ConditionalType& conditional(*result.first);
gradientContribution_ << -(conditional.get_R() * conditional.permutation().transpose()).transpose() * conditional.get_d(), // Rewrite -(R * P')'*d as -(d' * R * P')' for computational speed reasons
// gradientContribution_ << -(conditional.get_R() * conditional.permutation().transpose()).transpose() * conditional.get_d(),
// -conditional.get_S().transpose() * conditional.get_d();
gradientContribution_ << -(conditional.get_d().transpose() * conditional.get_R() * conditional.permutation().transpose()).transpose(),
-conditional.get_S().transpose() * conditional.get_d(); -conditional.get_S().transpose() * conditional.get_d();
} }