12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Change Cholesky decomposed matrix from 'Upper' to 'Lower' in order to avoid confusion.

release/4.3a0
Sungtae An 2014-12-10 02:55:40 -05:00
parent c5b4d731cc
commit e9b0f7b98f
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
gtsam/linear/Preconditioner.cpp
View File

@ -95,7 +95,7 @@ void BlockJacobiPreconditioner::solve(const Vector& y, Vector &x) const {
const Eigen::Map<const Eigen::MatrixXd> R(ptr, d, d);
Eigen::Map<Eigen::VectorXd> b(dst, d, 1);
R.triangularView<Eigen::Upper>().solveInPlace(b);
R.triangularView<Eigen::Lower>().solveInPlace(b);
dst += d;
ptr += sz;
@ -158,12 +158,12 @@ void BlockJacobiPreconditioner::build(
double *ptr = buffer_;
for ( size_t i = 0 ; i < n ; ++i ) {
/* use eigen to decompose Di */
/* It is same as R = chol(M) in MATLAB where M is full preconditioner */
const Matrix R = blocks[i].llt().matrixL().transpose();
/* It is same as L = chol(M,'lower') in MATLAB where M is full preconditioner */
const Matrix L = blocks[i].llt().matrixL();
/* store the data in the buffer */
size_t sz = dims_[i]*dims_[i] ;
std::copy(R.data(), R.data() + sz, ptr);
std::copy(L.data(), L.data() + sz, ptr);
/* advance the pointer */
ptr += sz;