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changed updateATA -> updateHessian. Much clearer

release/4.3a0
Frank Dellaert 2015-06-12 00:20:37 -07:00
parent c9910625c2
commit 41a0146b05
7 changed files with 13 additions and 13 deletions
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2
gtsam/linear/GaussianFactor.h
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@ -126,7 +126,7 @@ namespace gtsam {
* @param scatter A mapping from variable index to slot index in this HessianFactor
* @param info The information matrix to be updated
*/
virtual void updateATA(const Scatter& scatter,
virtual void updateHessian(const Scatter& scatter,
SymmetricBlockMatrix* info) const = 0;
/// y += alpha * A'*A*x

4
gtsam/linear/HessianFactor.cpp
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@ -248,7 +248,7 @@ HessianFactor::HessianFactor(const GaussianFactorGraph& factors,
gttic(update);
BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, factors)
if(factor)
factor->updateATA(*scatter, &info_);
factor->updateHessian(*scatter, &info_);
gttoc(update);
}
@ -346,7 +346,7 @@ double HessianFactor::error(const VectorValues& c) const {
}
/* ************************************************************************* */
void HessianFactor::updateATA(const Scatter& scatter,
void HessianFactor::updateHessian(const Scatter& scatter,
SymmetricBlockMatrix* info) const {
gttic(updateATA_HessianFactor);
// N is number of variables in information matrix, n in HessianFactor

2
gtsam/linear/HessianFactor.h
View File

@ -344,7 +344,7 @@ namespace gtsam {
* @param scatter A mapping from variable index to slot index in this HessianFactor
* @param info The information matrix to be updated
*/
void updateATA(const Scatter& scatter, SymmetricBlockMatrix* info) const;
void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const;
/** y += alpha * A'*A*x */
void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const;

6
gtsam/linear/JacobianFactor.cpp
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@ -498,7 +498,7 @@ map<Key, Matrix> JacobianFactor::hessianBlockDiagonal() const {
}
/* ************************************************************************* */
void JacobianFactor::updateATA(const Scatter& scatter,
void JacobianFactor::updateHessian(const Scatter& scatter,
SymmetricBlockMatrix* info) const {
gttic(updateATA_JacobianFactor);
@ -509,10 +509,10 @@ void JacobianFactor::updateATA(const Scatter& scatter,
if (model && !model->isUnit()) {
if (model->isConstrained())
throw invalid_argument(
"JacobianFactor::updateATA: cannot update information with "
"JacobianFactor::updateHessian: cannot update information with "
"constrained noise model");
JacobianFactor whitenedFactor = whiten();
whitenedFactor.updateATA(scatter, info);
whitenedFactor.updateHessian(scatter, info);
} else {
// Ab_ is the augmented Jacobian matrix A, and we perform I += A'*A below
// N is number of variables in information matrix, n in JacobianFactor

2
gtsam/linear/JacobianFactor.h
View File

@ -278,7 +278,7 @@ namespace gtsam {
* @param scatter A mapping from variable index to slot index in this HessianFactor
* @param info The information matrix to be updated
*/
void updateATA(const Scatter& scatter, SymmetricBlockMatrix* info) const;
void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const;
/** Return A*x */
Vector operator*(const VectorValues& x) const;

6
gtsam/slam/GeneralSFMFactor.h
View File

@ -149,7 +149,7 @@ namespace gtsam {
: JacobianFactor(i1, A1, i2, A2, b, model), AC_(A1), AL_(A2), b_(b) {}
// Fixed-size matrix update
void updateATA(const Scatter& scatter, SymmetricBlockMatrix* info) const {
void updateHessian(const Scatter& scatter, SymmetricBlockMatrix* info) const {
gttic(updateATA_LinearizedFactor);
// Whiten the factor if it has a noise model
@ -157,10 +157,10 @@ namespace gtsam {
if (model && !model->isUnit()) {
if (model->isConstrained())
throw std::invalid_argument(
"JacobianFactor::updateATA: cannot update information with "
"JacobianFactor::updateHessian: cannot update information with "
"constrained noise model");
JacobianFactor whitenedFactor = whiten();
whitenedFactor.updateATA(scatter, info);
whitenedFactor.updateHessian(scatter, info);
} else {
// N is number of variables in information matrix
DenseIndex N = info->nBlocks() - 1;

4
gtsam/slam/RegularImplicitSchurFactor.h
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@ -115,10 +115,10 @@ public:
return D;
}
virtual void updateATA(const Scatter& scatter,
virtual void updateHessian(const Scatter& scatter,
SymmetricBlockMatrix* info) const {
throw std::runtime_error(
"RegularImplicitSchurFactor::updateATA non implemented");
"RegularImplicitSchurFactor::updateHessian non implemented");
}
virtual Matrix augmentedJacobian() const {
throw std::runtime_error(