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small change as alpha=1

release/4.3a0
Frank Dellaert 2013-10-29 14:09:58 +00:00
parent ccae63fd42
commit 6c1f851d51
2 changed files with 11 additions and 11 deletions
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16
gtsam/linear/JacobianFactor.cpp
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@ -432,13 +432,6 @@ namespace gtsam {
return model_ ? model_->whiten(Ax) : Ax; return model_ ? model_->whiten(Ax) : Ax;
} }
/* ************************************************************************* */
void JacobianFactor::multiplyHessianAdd(double alpha, const VectorValues& x,
VectorValues& y) const {
Vector Ax = (*this)*x;
transposeMultiplyAdd(alpha,Ax,y);
}
/* ************************************************************************* */ /* ************************************************************************* */
void JacobianFactor::transposeMultiplyAdd(double alpha, const Vector& e, void JacobianFactor::transposeMultiplyAdd(double alpha, const Vector& e,
VectorValues& x) const VectorValues& x) const
@ -451,10 +444,17 @@ namespace gtsam {
pair<VectorValues::iterator, bool> xi = x.tryInsert(keys_[pos], Vector()); pair<VectorValues::iterator, bool> xi = x.tryInsert(keys_[pos], Vector());
if(xi.second) if(xi.second)
xi.first->second = Vector::Zero(getDim(begin() + pos)); xi.first->second = Vector::Zero(getDim(begin() + pos));
gtsam::transposeMultiplyAdd(1.0, Ab_(pos), E, xi.first->second); gtsam::transposeMultiplyAdd(Ab_(pos), E, xi.first->second);
} }
} }
/* ************************************************************************* */
void JacobianFactor::multiplyHessianAdd(double alpha, const VectorValues& x,
VectorValues& y) const {
Vector Ax = (*this)*x;
transposeMultiplyAdd(alpha,Ax,y);
}
/* ************************************************************************* */ /* ************************************************************************* */
VectorValues JacobianFactor::gradientAtZero() const { VectorValues JacobianFactor::gradientAtZero() const {
VectorValues g; VectorValues g;

6
gtsam/linear/JacobianFactor.h
View File

@ -259,13 +259,13 @@ namespace gtsam {
/** Return A*x */ /** Return A*x */
Vector operator*(const VectorValues& x) const; Vector operator*(const VectorValues& x) const;
/** y += alpha * A'*A*x */
void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const;
/** x += A'*e. If x is initially missing any values, they are created and assumed to start as /** x += A'*e. If x is initially missing any values, they are created and assumed to start as
* zero vectors. */ * zero vectors. */
void transposeMultiplyAdd(double alpha, const Vector& e, VectorValues& x) const; void transposeMultiplyAdd(double alpha, const Vector& e, VectorValues& x) const;
/** y += alpha * A'*A*x */
void multiplyHessianAdd(double alpha, const VectorValues& x, VectorValues& y) const;
/// A'*b for Jacobian /// A'*b for Jacobian
VectorValues gradientAtZero() const; VectorValues gradientAtZero() const;