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rename matrix type from `SpMat` to `SparseEigen`

release/4.3a0
Gerry Chen 2021-01-19 10:53:22 -05:00
parent d9c03aa827
commit d8491b27fb
1 changed files with 4 additions and 4 deletions
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8
gtsam/linear/SparseEigen.h
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@ -30,10 +30,10 @@
namespace gtsam { namespace gtsam {
typedef Eigen::SparseMatrix<double> SpMat; typedef Eigen::SparseMatrix<double> SparseEigen;
/// Constructs an Eigen-format SparseMatrix of a GaussianFactorGraph /// Constructs an Eigen-format SparseMatrix of a GaussianFactorGraph
SpMat sparseJacobianEigen( SparseEigen sparseJacobianEigen(
const GaussianFactorGraph &gfg, const Ordering &ordering) { const GaussianFactorGraph &gfg, const Ordering &ordering) {
// TODO(gerry): eliminate copy/pasta by making GaussianFactorGraph version // TODO(gerry): eliminate copy/pasta by making GaussianFactorGraph version
// more general, or by creating an Eigen::Triplet compatible wrapper for // more general, or by creating an Eigen::Triplet compatible wrapper for
@ -107,12 +107,12 @@ SpMat sparseJacobianEigen(
} }
// ...and make a sparse matrix with it. // ...and make a sparse matrix with it.
SpMat Ab(row, currentColIndex + 1); SparseEigen Ab(row, currentColIndex + 1);
Ab.setFromTriplets(entries.begin(), entries.end()); Ab.setFromTriplets(entries.begin(), entries.end());
return Ab; return Ab;
} }
SpMat sparseJacobianEigen(const GaussianFactorGraph &gfg) { SparseEigen sparseJacobianEigen(const GaussianFactorGraph &gfg) {
return sparseJacobianEigen(gfg, Ordering(gfg.keys())); return sparseJacobianEigen(gfg, Ordering(gfg.keys()));
} }