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default 10 step relin

release/4.3a0
Michael Kaess 2010-09-12 23:36:29 +00:00
parent 872ef5fe05
commit 45cd8e5772
1 changed files with 2 additions and 2 deletions
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4
inference/ISAM2-inl.h
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@ -19,7 +19,7 @@ using namespace boost::assign;
#include <gtsam/inference/ISAM2.h> #include <gtsam/inference/ISAM2.h>
#if 0 // timing - note: adds some time when applied in inner loops #if 1 // timing - note: adds some time when applied in inner loops
#include <sys/time.h> #include <sys/time.h>
// simple class for accumulating execution timing information by name // simple class for accumulating execution timing information by name
class Timing { class Timing {
@ -407,7 +407,7 @@ void ISAM2<Conditional, Config>::update(
#endif #endif
VectorConfig deltaMarked; VectorConfig deltaMarked;
if (relinearize) { // && count%10 == 0) { // todo: every n steps if (relinearize && count%10 == 0) { // todo: every n steps
tic("step4"); tic("step4");
// 4. Mark keys in \Delta above threshold \beta: J=\{\Delta_{j}\in\Delta|\Delta_{j}\geq\beta\}. // 4. Mark keys in \Delta above threshold \beta: J=\{\Delta_{j}\in\Delta|\Delta_{j}\geq\beta\}.
list<Symbol> markedRelin; list<Symbol> markedRelin;