From f9d6c3da227556d09cfcc3f8fb2ef35a399ed22d Mon Sep 17 00:00:00 2001 From: Sungtae An Date: Wed, 3 Dec 2014 12:30:56 -0500 Subject: [PATCH] Interchange solve and transposeSolve for leftPrecondition and rightPrecondition --- gtsam/linear/PCGSolver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/PCGSolver.cpp b/gtsam/linear/PCGSolver.cpp index fc226eb3e..0ce2b1e52 100644 --- a/gtsam/linear/PCGSolver.cpp +++ b/gtsam/linear/PCGSolver.cpp @@ -119,11 +119,11 @@ void GaussianFactorGraphSystem::getb(Vector &b) const { /**********************************************************************************/ void GaussianFactorGraphSystem::leftPrecondition(const Vector &x, Vector &y) const -{ preconditioner_.transposeSolve(x, y); } +{ preconditioner_.solve(x, y); } /**********************************************************************************/ void GaussianFactorGraphSystem::rightPrecondition(const Vector &x, Vector &y) const -{ preconditioner_.solve(x, y); } +{ preconditioner_.transposeSolve(x, y); } /**********************************************************************************/ VectorValues buildVectorValues(const Vector &v,