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Merge pull request #314 from borglab/fix/alternativeFixSymmetricBlockMatrix 

More precise use of setZero() and add comments
release/4.3a0
Frank Dellaert 2020-06-19 09:07:37 -04:00 committed by GitHub
parent 23d97af76a 741df283d0
commit 489e8f0991
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 4 deletions
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7
gtsam/base/SymmetricBlockMatrix.h
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@ -76,7 +76,7 @@ namespace gtsam {
blockStart_(0) blockStart_(0)
{ {
fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension); fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
matrix_.setZero(variableColOffsets_.back(), variableColOffsets_.back()); matrix_.resize(variableColOffsets_.back(), variableColOffsets_.back());
assertInvariants(); assertInvariants();
} }
@ -86,7 +86,7 @@ namespace gtsam {
blockStart_(0) blockStart_(0)
{ {
fillOffsets(firstBlockDim, lastBlockDim, appendOneDimension); fillOffsets(firstBlockDim, lastBlockDim, appendOneDimension);
matrix_.setZero(variableColOffsets_.back(), variableColOffsets_.back()); matrix_.resize(variableColOffsets_.back(), variableColOffsets_.back());
assertInvariants(); assertInvariants();
} }
@ -95,7 +95,7 @@ namespace gtsam {
SymmetricBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix, bool appendOneDimension = false) : SymmetricBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix, bool appendOneDimension = false) :
blockStart_(0) blockStart_(0)
{ {
matrix_.setZero(matrix.rows(), matrix.cols()); matrix_.resize(matrix.rows(), matrix.cols());
matrix_.triangularView<Eigen::Upper>() = matrix.triangularView<Eigen::Upper>(); matrix_.triangularView<Eigen::Upper>() = matrix.triangularView<Eigen::Upper>();
fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension); fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
if(matrix_.rows() != matrix_.cols()) if(matrix_.rows() != matrix_.cols())
@ -416,4 +416,3 @@ namespace gtsam {
class CholeskyFailed; class CholeskyFailed;
} }