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Fix error from PCG solver which causes test failure on Mac, with Luca

release/4.3a0
Sungtae An 2015-01-30 14:28:24 -05:00
parent 5afc3c4cea
commit 4bc9ee6787
1 changed files with 2 additions and 3 deletions
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5
gtsam/linear/PCGSolver.cpp
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@ -84,8 +84,7 @@ void GaussianFactorGraphSystem::multiply(const Vector &x, Vector& AtAx) const {
gfg_.multiplyHessianAdd(1.0, vvX, vvAtAx); gfg_.multiplyHessianAdd(1.0, vvX, vvAtAx);
// Make the result as Vector form // Make the result as Vector form
AtAx = vvAtAx.vector(); AtAx = vvAtAx.vector(keyInfo_.ordering());
} }
/*****************************************************************************/ /*****************************************************************************/
@ -96,7 +95,7 @@ void GaussianFactorGraphSystem::getb(Vector &b) const {
VectorValues vvb = gfg_.gradientAtZero(); VectorValues vvb = gfg_.gradientAtZero();
// Make the result as Vector form // Make the result as Vector form
b = -vvb.vector(); b = -vvb.vector(keyInfo_.ordering());
} }
/**********************************************************************************/ /**********************************************************************************/