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release/4.3a0
dellaert 2015-02-13 16:07:32 +01:00
parent 91ea8e3bd7
commit a4aa7b9f45
2 changed files with 6 additions and 1 deletions
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3
gtsam/inference/EliminateableFactorGraph.h
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@ -128,7 +128,8 @@ namespace gtsam {
OptionalOrderingType orderingType = boost::none) const; OptionalOrderingType orderingType = boost::none) const;
/** Do multifrontal elimination of all variables to produce a Bayes tree. If an ordering is not /** Do multifrontal elimination of all variables to produce a Bayes tree. If an ordering is not
* provided, the ordering provided by COLAMD will be used. * provided, the ordering will be computed using either COLAMD or METIS, dependeing on
* the parameter orderingType (Ordering::COLAMD or Ordering::METIS)
* *
* <b> Example - Full Cholesky elimination in COLAMD order: </b> * <b> Example - Full Cholesky elimination in COLAMD order: </b>
* \code * \code

4
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -242,8 +242,10 @@ void LevenbergMarquardtOptimizer::iterate() {
bool systemSolvedSuccessfully; bool systemSolvedSuccessfully;
try { try {
// ============ Solve is where most computation happens !! =================
delta = solve(dampedSystem, state_.values, params_); delta = solve(dampedSystem, state_.values, params_);
systemSolvedSuccessfully = true; systemSolvedSuccessfully = true;
// =========================================================================
} catch (IndeterminantLinearSystemException) { } catch (IndeterminantLinearSystemException) {
systemSolvedSuccessfully = false; systemSolvedSuccessfully = false;
} }
@ -267,7 +269,9 @@ void LevenbergMarquardtOptimizer::iterate() {
if (linearizedCostChange >= 0) { // step is valid if (linearizedCostChange >= 0) { // step is valid
// update values // update values
gttic(retract); gttic(retract);
// ============ This is where the solution is updated ====================
newValues = state_.values.retract(delta); newValues = state_.values.retract(delta);
// =======================================================================
gttoc(retract); gttoc(retract);
// compute new error // compute new error