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use QR by default

release/4.3a0
Frank Dellaert 2011-09-07 17:11:11 +00:00
parent 929be39e76
commit af15401b17
1 changed files with 9 additions and 8 deletions
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17
gtsam/linear/KalmanFilter.cpp
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@ -9,15 +9,15 @@
* -------------------------------------------------------------------------- */
/*
* testKalmanFilter.cpp
/**
* @file KalmanFilter.cpp
*
* Simple linear Kalman filter.
* @brief Simple linear Kalman filter.
* Implemented using factor graphs, i.e., does LDL-based SRIF, really.
*
* Created on: Sep 3, 2011
* @author Stephen Williams
* @author Frank Dellaert
* @date Sep 3, 2011
* @author Stephen Williams
* @author Frank Dellaert
*/
#include <gtsam/linear/GaussianSequentialSolver.h>
@ -26,11 +26,12 @@
namespace gtsam {
// Auxiliary function to solve factor graph and return pointer to root conditional
/// Auxiliary function to solve factor graph and return pointer to root conditional
GaussianConditional* solve(GaussianFactorGraph& factorGraph) {
// Solve the factor graph
GaussianSequentialSolver solver(factorGraph);
const bool useQr = true; // make sure we use QR (numerically stable)
GaussianSequentialSolver solver(factorGraph, useQR);
GaussianBayesNet::shared_ptr bayesNet = solver.eliminate();
// As this is a filter, all we need is the posterior P(x_t),