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remove the artificial zero priors to make testLPSolver passed with costs that don't include all vars. Why did I think I need the zero priors??

release/4.3a0
Duy-Nguyen Ta 2016-04-27 03:01:54 -04:00
parent 9c1952cd1f
commit 61e3a2b51d
1 changed files with 3 additions and 3 deletions
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6
gtsam_unstable/linear/LPSolver.cpp
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@ -27,7 +27,7 @@ LPSolver::LPSolver(const LP &lp) :
// Create and push zero priors of constrained variables that do not exist in // Create and push zero priors of constrained variables that do not exist in
// the cost function // the cost function
baseGraph_.push_back(*createZeroPriors(lp_.cost.keys(), keysDim_)); // baseGraph_.push_back(*createZeroPriors(lp_.cost.keys(), keysDim_));
// Variable index // Variable index
equalityVariableIndex_ = VariableIndex(lp_.equalities); equalityVariableIndex_ = VariableIndex(lp_.equalities);
@ -208,8 +208,8 @@ std::pair<VectorValues, VectorValues> LPSolver::optimize(
/// main loop of the solver /// main loop of the solver
while (!state.converged) { while (!state.converged) {
if(state.iterations > 10000) // Temporary break to avoid infine loops // if(state.iterations > 100) // Temporary break to avoid infine loops
break; // break;
state = iterate(state); state = iterate(state);
} }
return make_pair(state.values, state.duals); return make_pair(state.values, state.duals);