From e00c84227f0178f91d2e082550b62736769912d2 Mon Sep 17 00:00:00 2001 From: = Date: Mon, 5 Nov 2018 18:10:05 -0500 Subject: [PATCH] Remove hessian factor hack. --- gtsam_unstable/linear/QPSolver.h | 5 ----- 1 file changed, 5 deletions(-) diff --git a/gtsam_unstable/linear/QPSolver.h b/gtsam_unstable/linear/QPSolver.h index 590275c51..3854d2a15 100644 --- a/gtsam_unstable/linear/QPSolver.h +++ b/gtsam_unstable/linear/QPSolver.h @@ -37,11 +37,6 @@ struct QPPolicy { GaussianFactorGraph no_constant_factor; for (auto factor : qp.cost) { HessianFactor hf = static_cast(*factor); - if (hf.constantTerm() < 0) // Hessian Factors cannot deal - // with negative constant terms replace with zero in this case - //TODO: Perhaps there is a smarter way to set the constant term such that the resulting matrix is almost always - // Positive definite. - hf.constantTerm() = 0.0; no_constant_factor.push_back(hf); } return no_constant_factor;