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Move Eigen magic inside function itself as Frank suggested.

release/4.3a0
hchiu 2014-03-04 10:25:54 -05:00
parent f5ce1d865e
commit de27502738
4 changed files with 11 additions and 10 deletions
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5
gtsam/linear/HessianFactor.cpp
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@ -539,6 +539,11 @@ void HessianFactor::multiplyHessianAdd(double alpha, const VectorValues& x,
void HessianFactor::multiplyHessianAdd(double alpha, const double* x, void HessianFactor::multiplyHessianAdd(double alpha, const double* x,
double* yvalues, vector<size_t> keys) const { double* yvalues, vector<size_t> keys) const {
// Use eigen magic to access raw memory
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> DVector;
typedef Eigen::Map<DVector> DMap;
typedef Eigen::Map<const DVector> ConstDMap;
// Create a vector of temporary y values, corresponding to rows i // Create a vector of temporary y values, corresponding to rows i
vector<Vector> y; vector<Vector> y;
y.reserve(size()); y.reserve(size());

5
gtsam/linear/HessianFactor.h
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@ -142,11 +142,6 @@ namespace gtsam {
typedef SymmetricBlockMatrix::constBlock constBlock; ///< A block from the Hessian matrix (const version) typedef SymmetricBlockMatrix::constBlock constBlock; ///< A block from the Hessian matrix (const version)
// Use eigen magic to access raw memory
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> DVector;
typedef Eigen::Map<DVector> DMap;
typedef Eigen::Map<const DVector> ConstDMap;
/** default constructor for I/O */ /** default constructor for I/O */
HessianFactor(); HessianFactor();

6
gtsam/linear/JacobianFactor.cpp
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@ -507,6 +507,12 @@ namespace gtsam {
} }
void JacobianFactor::multiplyHessianAdd(double alpha, const double* x, double* y, std::vector<size_t> keys) const { void JacobianFactor::multiplyHessianAdd(double alpha, const double* x, double* y, std::vector<size_t> keys) const {
// Use eigen magic to access raw memory
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> DVector;
typedef Eigen::Map<DVector> DMap;
typedef Eigen::Map<const DVector> ConstDMap;
if (empty()) return; if (empty()) return;
Vector Ax = zero(Ab_.rows()); Vector Ax = zero(Ab_.rows());

5
gtsam/linear/JacobianFactor.h
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@ -96,11 +96,6 @@ namespace gtsam {
typedef ABlock::ColXpr BVector; typedef ABlock::ColXpr BVector;
typedef constABlock::ConstColXpr constBVector; typedef constABlock::ConstColXpr constBVector;
// Use eigen magic to access raw memory
typedef Eigen::Matrix<double, Eigen::Dynamic, 1> DVector;
typedef Eigen::Map<DVector> DMap;
typedef Eigen::Map<const DVector> ConstDMap;
/** Convert from other GaussianFactor */ /** Convert from other GaussianFactor */
explicit JacobianFactor(const GaussianFactor& gf); explicit JacobianFactor(const GaussianFactor& gf);