From c01e3d456aae716021d3a833a799d149e8e11744 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 20 Jan 2012 20:45:30 +0000 Subject: [PATCH] [with Alex and Richard] Fixed incorrect global switch to QR when any constraints are present: this is done in the GaussianFactorGraph::eliminatePreferXXX functions. --- gtsam/linear/GaussianMultifrontalSolver.cpp | 4 ++-- gtsam/linear/GaussianSequentialSolver.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/linear/GaussianMultifrontalSolver.cpp b/gtsam/linear/GaussianMultifrontalSolver.cpp index 23c017f41..9e80b7c29 100644 --- a/gtsam/linear/GaussianMultifrontalSolver.cpp +++ b/gtsam/linear/GaussianMultifrontalSolver.cpp @@ -24,12 +24,12 @@ namespace gtsam { /* ************************************************************************* */ GaussianMultifrontalSolver::GaussianMultifrontalSolver(const FactorGraph& factorGraph, bool useQR) : - Base(factorGraph), useQR_(useQR || hasConstraints(factorGraph)) {} + Base(factorGraph), useQR_(useQR) {} /* ************************************************************************* */ GaussianMultifrontalSolver::GaussianMultifrontalSolver(const FactorGraph::shared_ptr& factorGraph, const VariableIndex::shared_ptr& variableIndex, bool useQR) : - Base(factorGraph, variableIndex), useQR_(useQR || hasConstraints(*factorGraph)) {} + Base(factorGraph, variableIndex), useQR_(useQR) {} /* ************************************************************************* */ GaussianMultifrontalSolver::shared_ptr diff --git a/gtsam/linear/GaussianSequentialSolver.cpp b/gtsam/linear/GaussianSequentialSolver.cpp index 655598587..bfff98e0f 100644 --- a/gtsam/linear/GaussianSequentialSolver.cpp +++ b/gtsam/linear/GaussianSequentialSolver.cpp @@ -26,14 +26,14 @@ namespace gtsam { /* ************************************************************************* */ GaussianSequentialSolver::GaussianSequentialSolver( const FactorGraph& factorGraph, bool useQR) : - Base(factorGraph), useQR_(useQR || hasConstraints(factorGraph)) { + Base(factorGraph), useQR_(useQR) { } /* ************************************************************************* */ GaussianSequentialSolver::GaussianSequentialSolver( const FactorGraph::shared_ptr& factorGraph, const VariableIndex::shared_ptr& variableIndex, bool useQR) : - Base(factorGraph, variableIndex), useQR_(useQR || hasConstraints(*factorGraph)) { + Base(factorGraph, variableIndex), useQR_(useQR) { } /* ************************************************************************* */