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cleanup

release/4.3a0
Gerry Chen 2021-01-18 20:56:44 -05:00
parent ee5701dcda
commit d9c03aa827
1 changed files with 5 additions and 32 deletions
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37
gtsam/linear/SparseEigen.h
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@ -32,8 +32,13 @@ namespace gtsam {
typedef Eigen::SparseMatrix<double> SpMat;
/// Constructs an Eigen-format SparseMatrix of a GaussianFactorGraph
SpMat sparseJacobianEigen(
const GaussianFactorGraph &gfg, const Ordering &ordering) {
// TODO(gerry): eliminate copy/pasta by making GaussianFactorGraph version
// more general, or by creating an Eigen::Triplet compatible wrapper for
// boost::tuple return type
// First find dimensions of each variable
std::map<Key, size_t> dims;
for (const boost::shared_ptr<GaussianFactor> &factor : gfg) {
@ -111,36 +116,4 @@ SpMat sparseJacobianEigen(const GaussianFactorGraph &gfg) {
return sparseJacobianEigen(gfg, Ordering(gfg.keys()));
}
// /// obtain sparse matrix for eigen sparse solver
// std::pair<SpMat, Eigen::VectorXd> obtainSparseMatrix(
// const GaussianFactorGraph &gfg, const Ordering &ordering) {
// gttic_(EigenOptimizer_obtainSparseMatrix);
// // Get sparse entries of Jacobian [A|b] augmented with RHS b.
// auto entries = gfg.sparseJacobian(ordering);
// gttic_(EigenOptimizer_convertSparse);
// // Convert boost tuples to Eigen triplets
// vector<Eigen::Triplet<double>> triplets;
// triplets.reserve(entries.size());
// size_t rows = 0, cols = 0;
// for (const auto &e : entries) {
// size_t temp_rows = e.get<0>(), temp_cols = e.get<1>();
// triplets.emplace_back(temp_rows, temp_cols, e.get<2>());
// rows = std::max(rows, temp_rows);
// cols = std::max(cols, temp_cols);
// }
// // ...and make a sparse matrix with it.
// SpMat Ab(rows + 1, cols + 1);
// Ab.setFromTriplets(triplets.begin(), triplets.end());
// Ab.makeCompressed();
// gttoc_(EigenOptimizer_convertSparse);
// gttoc_(EigenOptimizer_obtainSparseMatrix);
// return make_pair<SpMat, Eigen::VectorXd>(Ab.block(0, 0, rows + 1, cols),
// Ab.col(cols));
// }
} // namespace gtsam