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Fix build function in Preconditioner

release/4.3a0
Sungtae An 2014-11-20 19:01:02 -05:00
parent 1f827fae43
commit 6616844d84
1 changed files with 3 additions and 5 deletions
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8
gtsam/linear/Preconditioner.cpp
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@ -143,11 +143,9 @@ void BlockJacobiPreconditioner::build(
}
/* getting the block diagonals over the factors */
BOOST_FOREACH ( const GaussianFactor::shared_ptr &gf, gfg ) {
std::map<Key, Matrix> hessianMap = gf->hessianBlockDiagonal();
BOOST_FOREACH ( const Matrix hessian, hessianMap | boost::adaptors::map_values)
blocks.push_back(hessian);
}
std::map<Key, Matrix> hessianMap =gfg.hessianBlockDiagonal();
BOOST_FOREACH ( const Matrix hessian, hessianMap | boost::adaptors::map_values)
blocks.push_back(hessian);
/* if necessary, allocating the memory for cacheing the factorization results */
if ( nnz > bufferSize_ ) {