From 8877e3de4d15b1082a5911bbb3ec8dd505d95596 Mon Sep 17 00:00:00 2001 From: = Date: Fri, 9 Sep 2016 10:27:01 -0400 Subject: [PATCH] Removed hessian symmetrization trick from the QPSolver. --- gtsam_unstable/linear/QPSolver.h | 3 --- 1 file changed, 3 deletions(-) diff --git a/gtsam_unstable/linear/QPSolver.h b/gtsam_unstable/linear/QPSolver.h index d52644975..590275c51 100644 --- a/gtsam_unstable/linear/QPSolver.h +++ b/gtsam_unstable/linear/QPSolver.h @@ -37,9 +37,6 @@ struct QPPolicy { GaussianFactorGraph no_constant_factor; for (auto factor : qp.cost) { HessianFactor hf = static_cast(*factor); - //a trick to ensure that the augmented matrix is always symmetric. Should only be an issue when dealing - // with the manifold. - hf.augmentedInformation() = (hf.augmentedInformation() + hf.augmentedInformation().transpose())/2; if (hf.constantTerm() < 0) // Hessian Factors cannot deal // with negative constant terms replace with zero in this case //TODO: Perhaps there is a smarter way to set the constant term such that the resulting matrix is almost always