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release/4.3a0
Alex Cunningham 2011-06-13 20:40:44 +00:00
parent 778001f63e
commit 3c7836cf4d
2 changed files with 2 additions and 1 deletions
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2
gtsam/linear/JacobianFactor.cpp
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@ -409,7 +409,7 @@ namespace gtsam {
if(debug) cout << "frontalDim = " << frontalDim << endl; if(debug) cout << "frontalDim = " << frontalDim << endl;
// Use in-place QR or Cholesky on dense Ab appropriate to NoiseModel // Use in-place QR dense Ab appropriate to NoiseModel
tic(2, "QR"); tic(2, "QR");
SharedDiagonal noiseModel = model_->QR(matrix_); SharedDiagonal noiseModel = model_->QR(matrix_);
toc(2, "QR"); toc(2, "QR");

1
gtsam/linear/NoiseModel.h
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@ -182,6 +182,7 @@ namespace gtsam {
/** /**
* Cholesky factorization * Cholesky factorization
* FIXME: this is never used anywhere
*/ */
virtual SharedDiagonal Cholesky(Matrix& Ab, size_t nFrontals) const; virtual SharedDiagonal Cholesky(Matrix& Ab, size_t nFrontals) const;