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Using Eigen Identity and Zero functions in LM damp

release/4.3a0
Richard Roberts 2013-11-18 19:23:29 +00:00
parent 1f5f86f6e8
commit 45c022a791
1 changed files with 2 additions and 2 deletions
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4
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -102,8 +102,8 @@ void LevenbergMarquardtOptimizer::iterate() {
// for each of the variables, add a prior
BOOST_FOREACH(const Values::KeyValuePair& key_value, state_.values) {
size_t dim = key_value.value.dim();
Matrix A = eye(dim);
Vector b = zero(dim);
Matrix A = Matrix::Identity(dim, dim);
Vector b = Vector::Zero(dim);
SharedDiagonal model = noiseModel::Isotropic::Sigma(dim, sigma);
dampedSystem += boost::make_shared<JacobianFactor>(key_value.key, A, b, model);
}