diff --git a/gtsam_unstable/linear/QPSolver.cpp b/gtsam_unstable/linear/QPSolver.cpp index 7f9991a32..22a0f99de 100644 --- a/gtsam_unstable/linear/QPSolver.cpp +++ b/gtsam_unstable/linear/QPSolver.cpp @@ -253,7 +253,8 @@ pair QPSolver::findWorstViolatedActiveIneq( return make_pair(worstFactorIx, worstSigmaIx); } -/* ************************************************************************* */bool QPSolver::updateWorkingSetInplace( +/* ************************************************************************* */ +bool QPSolver::updateWorkingSetInplace( GaussianFactorGraph& workingGraph, int factorIx, int sigmaIx, double newSigma) const { if (factorIx < 0 || sigmaIx < 0) @@ -337,7 +338,8 @@ boost::tuple QPSolver::computeStepSize( return boost::make_tuple(minAlpha, closestFactorIx, closestSigmaIx); } -/* ************************************************************************* */bool QPSolver::iterateInPlace( +/* ************************************************************************* */ +bool QPSolver::iterateInPlace( GaussianFactorGraph& workingGraph, VectorValues& currentSolution, VectorValues& lambdas) const { static bool debug = false;