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

Removed some remaining references to LDL, which isn't used at all right now

release/4.3a0
Alex Cunningham 2010-10-22 05:21:12 +00:00
parent 4b137de4a6
commit 3f86a12655
4 changed files with 3 additions and 37 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
base/Matrix.cpp
View File

@ -45,10 +45,6 @@ extern "C" {
#include <boost/numeric/ublas/vector_proxy.hpp>
#include <boost/tuple/tuple.hpp>
#ifdef GT_USE_LDL
#include <suitesparse/ldl.h>
#endif
#include <gtsam/base/Matrix-inl.h>
#include <gtsam/base/Vector.h>
#include <gtsam/base/svdcmp.h>

2
base/Matrix.h
View File

@ -277,6 +277,8 @@ void householder(Matrix& A);
* Householder tranformation directly on a column-major matrix. Does not zero
* below the diagonal, so it will contain Householder vectors.
* @return nothing: in place !!!
* FIXME: this uses the LAPACK QR function, so it cannot be used on Ubuntu (without
* lots of hacks, at least)
*/
void householderColMajor(MatrixColMajor& A);
#endif

32
base/tests/testMatrix.cpp
View File

@ -974,38 +974,6 @@ TEST( matrix, transposeMultiplyAdd )
CHECK(assert_equal(expected, x));
}
/* ************************************************************************* */
#ifdef GT_USE_LDL
TEST( matrix, LDL_factorization ) {
// run demo inside Matrix.cpp code
// create a matrix (from ldlsimple.c example)
Matrix A = Matrix_(10, 10,
1.7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, .13, 0.0,
0.0, 1., 0.0, 0.0, .02, 0.0, 0.0, 0.0, 0.0, .01,
0.0, 0.0, 1.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 1.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, .02, 0.0, 0.0, 2.6, 0.0, .16, .09, .52, .53,
0.0, 0.0, 0.0, 0.0, 0.0, 1.2, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, .16, 0.0, 1.3, 0.0, 0.0, .56,
0.0, 0.0, 0.0, 0.0, .09, 0.0, 0.0, 1.6, .11, 0.0,
.13, 0.0, 0.0, 0.0, .52, 0.0, 0.0, .11, 1.4, 0.0,
0.0, .01, 0.0, 0.0, .53, 0.0, .56, 0.0, 0.0, 3.1);
Vector b = Vector_(10, .287, .22, .45, .44, 2.486, .72, 1.55, 1.424, 1.621, 3.759);
// perform LDL solving
Vector actual = solve_ldl(A, b);
// check solution
Vector expected = Vector_(10, .1, .2, .3, .4, .5, .6, .7, .8, .9, 1.0);
CHECK(assert_equal(expected, actual));
}
#endif
/* ************************************************************************* */
TEST( matrix, linear_dependent )
{

2
nonlinear/NonlinearOptimizer.cpp
View File

@ -11,7 +11,7 @@
/**
* NonlinearOptimizer.cpp
* @brief: Dummy c++ file to have *something* in lin-nonlinear if USE_LDL not defined.
* @brief: Dummy c++ file to have *something* in lin-nonlinear .
* @Author: Frank Dellaert
* Created on: Jul 17, 2010
*/