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Fixed missing transpose

release/4.3a0
Frank Dellaert 2019-04-13 22:06:18 -04:00
parent 7b6eaa4333
commit 948367603b
1 changed files with 1 additions and 1 deletions
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gtsam/linear/GaussianConditional.cpp
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@ -172,7 +172,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
void GaussianConditional::solveTransposeInPlace(VectorValues& gy) const { void GaussianConditional::solveTransposeInPlace(VectorValues& gy) const {
Vector frontalVec = gy.vector(KeyVector(beginFrontals(), endFrontals())); Vector frontalVec = gy.vector(KeyVector(beginFrontals(), endFrontals()));
frontalVec = get_R().triangularView<Eigen::Upper>().solve<Eigen::OnTheLeft>(frontalVec); frontalVec = get_R().transpose().triangularView<Eigen::Lower>().solve(frontalVec);
// Check for indeterminant solution // Check for indeterminant solution
if (frontalVec.hasNaN()) throw IndeterminantLinearSystemException(this->keys().front()); if (frontalVec.hasNaN()) throw IndeterminantLinearSystemException(this->keys().front());