comment

2016-04-27 03:16:46 -04:00 · 2016-04-27 03:16:46 -04:00 · 69c1fac81a
parent 61e3a2b51d
commit 69c1fac81a
1 changed files with 1 additions and 0 deletions
--- a/gtsam_unstable/linear/LPSolver.cpp
+++ b/gtsam_unstable/linear/LPSolver.cpp
@ -127,6 +127,7 @@ GaussianFactorGraph::shared_ptr LPSolver::createLeastSquareFactors(
  allKeys.merge(lp_.equalities.keys());
  allKeys.merge(KeySet(lp_.cost.keys()));

+  // for vars that are not in the cost, the cost gradient is zero (g=0), so b=xk
  if (cost.keys().size() != allKeys.size()) {
    KeySet difference;
    std::set_difference(allKeys.begin(), allKeys.end(), lp_.cost.begin(),