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Removed commented code

release/4.3a0
Richard Roberts 2012-04-02 20:43:34 +00:00
parent ee532f2b1f
commit 8cd7662dab
1 changed files with 0 additions and 2 deletions
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gtsam/nonlinear/ISAM2.h
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@ -217,8 +217,6 @@ struct ISAM2Clique : public BayesTreeCliqueBase<ISAM2Clique, GaussianConditional
// Compute gradient contribution // Compute gradient contribution
const ConditionalType& conditional(*result.first); const ConditionalType& conditional(*result.first);
// Rewrite -(R * P')'*d as -(d' * R * P')' for computational speed reasons // Rewrite -(R * P')'*d as -(d' * R * P')' for computational speed reasons
// gradientContribution_ << -(conditional.get_R() * conditional.permutation().transpose()).transpose() * conditional.get_d(),
// -conditional.get_S().transpose() * conditional.get_d();
gradientContribution_ << -(conditional.get_d().transpose() * conditional.get_R() * conditional.permutation().transpose()).transpose(), gradientContribution_ << -(conditional.get_d().transpose() * conditional.get_R() * conditional.permutation().transpose()).transpose(),
-conditional.get_S().transpose() * conditional.get_d(); -conditional.get_S().transpose() * conditional.get_d();
} }