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Corrected code comments

release/4.3a0
Richard Roberts 2011-03-18 14:38:53 +00:00
parent 2c54218100
commit 618b4d5a0a
1 changed files with 4 additions and 1 deletions
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gtsam/base/cholesky.h
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@ -37,7 +37,7 @@ void cholesky_inplace(MatrixColMajor& I);
* the upper-triangular R = chol(F), i.e. R'R == F'F. It then computes the * the upper-triangular R = chol(F), i.e. R'R == F'F. It then computes the
* upper-trapazoidal factor [ R S d ], with [ S d ] = inv(R') * F' * [ G b ]. * upper-trapazoidal factor [ R S d ], with [ S d ] = inv(R') * F' * [ G b ].
* *
* Note that this operates on the "canonical" A matrix, not the symmetric * Note that this operates on the Jacobian A matrix, not the symmetric
* information matrix like plain Cholesky. * information matrix like plain Cholesky.
* *
* This function returns the rank of the factor. * This function returns the rank of the factor.
@ -57,6 +57,9 @@ size_t choleskyFactorUnderdetermined(MatrixColMajor& Ab, size_t nFrontal);
* of the zero-rows of the factor occur after any non-zero rows. This is * of the zero-rows of the factor occur after any non-zero rows. This is
* (always?) the case during elimination of a fully-constrained least-squares * (always?) the case during elimination of a fully-constrained least-squares
* problem. * problem.
*
* The optional order argument specifies the size of the square upper-left
* submatrix to operate on, ignoring the rest of the matrix.
*/ */
std::pair<size_t,bool> choleskyCareful(MatrixColMajor& ATA, int order = -1); std::pair<size_t,bool> choleskyCareful(MatrixColMajor& ATA, int order = -1);