12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

timing sparse eigen

release/4.3a0
Gerry Chen 2021-01-19 14:03:14 -05:00
parent b76993b171
commit 77c65f8176
1 changed files with 2 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/linear/SparseEigen.h
View File

@ -38,6 +38,7 @@ SparseEigen sparseJacobianEigen(
// TODO(gerry): eliminate copy/pasta by making GaussianFactorGraph version // TODO(gerry): eliminate copy/pasta by making GaussianFactorGraph version
// more general, or by creating an Eigen::Triplet compatible wrapper for // more general, or by creating an Eigen::Triplet compatible wrapper for
// boost::tuple return type // boost::tuple return type
gttic_(SparseEigen_sparseJacobianEigen);
// First find dimensions of each variable // First find dimensions of each variable
std::map<Key, size_t> dims; std::map<Key, size_t> dims;
@ -113,6 +114,7 @@ SparseEigen sparseJacobianEigen(
} }
SparseEigen sparseJacobianEigen(const GaussianFactorGraph &gfg) { SparseEigen sparseJacobianEigen(const GaussianFactorGraph &gfg) {
gttic_(SparseEigen_sparseJacobianEigen_defaultOrdering);
return sparseJacobianEigen(gfg, Ordering(gfg.keys())); return sparseJacobianEigen(gfg, Ordering(gfg.keys()));
} }