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Remove hessian factor hack.

release/4.3a0
= 2018-11-05 18:10:05 -05:00
parent b05bd66ba2
commit e00c84227f
1 changed files with 0 additions and 5 deletions
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5
gtsam_unstable/linear/QPSolver.h
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@ -37,11 +37,6 @@ struct QPPolicy {
GaussianFactorGraph no_constant_factor; GaussianFactorGraph no_constant_factor;
for (auto factor : qp.cost) { for (auto factor : qp.cost) {
HessianFactor hf = static_cast<HessianFactor>(*factor); HessianFactor hf = static_cast<HessianFactor>(*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); no_constant_factor.push_back(hf);
} }
return no_constant_factor; return no_constant_factor;