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BORG formatting

release/4.3a0
dellaert 2015-06-14 13:37:51 -07:00
parent 8c22684bbb
commit 9fcd498d6a
1 changed files with 7 additions and 7 deletions
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14
gtsam/base/SymmetricBlockMatrix.cpp
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@ -61,13 +61,13 @@ VerticalBlockMatrix SymmetricBlockMatrix::choleskyPartial(
// Split conditional // Split conditional
// Create one big conditionals with many frontal variables. // Create one big conditionals with many frontal variables.
gttic(Construct_conditional); gttic(Construct_conditional);
const size_t varDim = offset(nFrontals); const size_t varDim = offset(nFrontals);
VerticalBlockMatrix Ab = VerticalBlockMatrix::LikeActiveViewOf(*this, varDim); VerticalBlockMatrix Ab = VerticalBlockMatrix::LikeActiveViewOf(*this, varDim);
Ab.full() = matrix_.topRows(varDim); Ab.full() = matrix_.topRows(varDim);
Ab.full().triangularView<Eigen::StrictlyLower>().setZero(); Ab.full().triangularView<Eigen::StrictlyLower>().setZero();
gttoc(Construct_conditional); gttoc(Construct_conditional);
gttic(Remaining_factor); gttic(Remaining_factor);
// Take lower-right block of Ab_ to get the remaining factor // Take lower-right block of Ab_ to get the remaining factor