From c4841c6e219b718e3fda96748bb73c7edd47c5a8 Mon Sep 17 00:00:00 2001 From: Sungtae An Date: Wed, 3 Dec 2014 12:17:52 -0500 Subject: [PATCH] Add a comment --- gtsam/linear/Preconditioner.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/gtsam/linear/Preconditioner.cpp b/gtsam/linear/Preconditioner.cpp index 59f912ad9..576274de2 100644 --- a/gtsam/linear/Preconditioner.cpp +++ b/gtsam/linear/Preconditioner.cpp @@ -157,6 +157,7 @@ void BlockJacobiPreconditioner::build( double *ptr = buffer_; for ( size_t i = 0 ; i < n ; ++i ) { /* use eigen to decompose Di */ + /* It is same as R = chol(M) in MATLAB where M is full preconditioner */ const Matrix R = blocks[i].llt().matrixL().transpose(); /* store the data in the buffer */