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Added fixme comments in LDL

release/4.3a0
Alex Cunningham 2011-11-18 19:38:55 +00:00
parent 163e60d43d
commit 5d2790aa5e
1 changed files with 2 additions and 2 deletions
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gtsam/base/cholesky.cpp
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@ -179,14 +179,14 @@ Eigen::LDLT<Matrix>::TranspositionType ldlPartial(Matrix& ABC, size_t nFrontal)
throw NegativeMatrixException(); throw NegativeMatrixException();
} }
Vector sqrtD = ldlt.vectorD().cwiseSqrt(); Vector sqrtD = ldlt.vectorD().cwiseSqrt(); // FIXME: we shouldn't do sqrt in LDL
if (debug) cout << "Dsqrt: " << sqrtD << endl; if (debug) cout << "Dsqrt: " << sqrtD << endl;
// U = sqrtD * L^ // U = sqrtD * L^
Matrix U = ldlt.matrixU(); Matrix U = ldlt.matrixU();
// we store the permuted upper triangular matrix // we store the permuted upper triangular matrix
ABC.block(0,0,nFrontal,nFrontal) = sqrtD.asDiagonal() * U; ABC.block(0,0,nFrontal,nFrontal) = sqrtD.asDiagonal() * U; // FIXME: this isn't actually LDL', it's Cholesky
if(debug) cout << "R:\n" << ABC.topLeftCorner(nFrontal,nFrontal) << endl; if(debug) cout << "R:\n" << ABC.topLeftCorner(nFrontal,nFrontal) << endl;
// toc(1, "ldl"); // toc(1, "ldl");