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[with Alex and Richard] Fixed incorrect global switch to QR when any constraints are present: this is done in the GaussianFactorGraph::eliminatePreferXXX functions.

release/4.3a0
Frank Dellaert 2012-01-20 20:45:30 +00:00
parent 24292d6c13
commit c01e3d456a
2 changed files with 4 additions and 4 deletions
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4
gtsam/linear/GaussianMultifrontalSolver.cpp
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@ -24,12 +24,12 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
GaussianMultifrontalSolver::GaussianMultifrontalSolver(const FactorGraph<GaussianFactor>& factorGraph, bool useQR) : GaussianMultifrontalSolver::GaussianMultifrontalSolver(const FactorGraph<GaussianFactor>& factorGraph, bool useQR) :
Base(factorGraph), useQR_(useQR || hasConstraints(factorGraph)) {} Base(factorGraph), useQR_(useQR) {}
/* ************************************************************************* */ /* ************************************************************************* */
GaussianMultifrontalSolver::GaussianMultifrontalSolver(const FactorGraph<GaussianFactor>::shared_ptr& factorGraph, GaussianMultifrontalSolver::GaussianMultifrontalSolver(const FactorGraph<GaussianFactor>::shared_ptr& factorGraph,
const VariableIndex::shared_ptr& variableIndex, bool useQR) : const VariableIndex::shared_ptr& variableIndex, bool useQR) :
Base(factorGraph, variableIndex), useQR_(useQR || hasConstraints(*factorGraph)) {} Base(factorGraph, variableIndex), useQR_(useQR) {}
/* ************************************************************************* */ /* ************************************************************************* */
GaussianMultifrontalSolver::shared_ptr GaussianMultifrontalSolver::shared_ptr

4
gtsam/linear/GaussianSequentialSolver.cpp
View File

@ -26,14 +26,14 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
GaussianSequentialSolver::GaussianSequentialSolver( GaussianSequentialSolver::GaussianSequentialSolver(
const FactorGraph<GaussianFactor>& factorGraph, bool useQR) : const FactorGraph<GaussianFactor>& factorGraph, bool useQR) :
Base(factorGraph), useQR_(useQR || hasConstraints(factorGraph)) { Base(factorGraph), useQR_(useQR) {
} }
/* ************************************************************************* */ /* ************************************************************************* */
GaussianSequentialSolver::GaussianSequentialSolver( GaussianSequentialSolver::GaussianSequentialSolver(
const FactorGraph<GaussianFactor>::shared_ptr& factorGraph, const FactorGraph<GaussianFactor>::shared_ptr& factorGraph,
const VariableIndex::shared_ptr& variableIndex, bool useQR) : const VariableIndex::shared_ptr& variableIndex, bool useQR) :
Base(factorGraph, variableIndex), useQR_(useQR || hasConstraints(*factorGraph)) { Base(factorGraph, variableIndex), useQR_(useQR) {
} }
/* ************************************************************************* */ /* ************************************************************************* */