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release/4.3a0
Sungtae An 2014-12-03 12:17:52 -05:00
parent 49bca1ac69
commit c4841c6e21
1 changed files with 1 additions and 0 deletions
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gtsam/linear/Preconditioner.cpp
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@ -157,6 +157,7 @@ void BlockJacobiPreconditioner::build(
double *ptr = buffer_; double *ptr = buffer_;
for ( size_t i = 0 ; i < n ; ++i ) { for ( size_t i = 0 ; i < n ; ++i ) {
/* use eigen to decompose Di */ /* 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(); const Matrix R = blocks[i].llt().matrixL().transpose();
/* store the data in the buffer */ /* store the data in the buffer */