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Switched SolverComparer to QR

release/4.3a0
Richard Roberts 2013-08-01 21:57:05 +00:00
parent ff88c8fdc8
commit fcc6b804d1
1 changed files with 3 additions and 1 deletions
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4
examples/SolverComparer.cpp
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@ -394,7 +394,9 @@ void runBatch()
measurements.push_back(boost::make_shared<PriorFactor<Pose> >(0, Pose(), noiseModel::Unit::Create(Pose::Dim()))); measurements.push_back(boost::make_shared<PriorFactor<Pose> >(0, Pose(), noiseModel::Unit::Create(Pose::Dim())));
gttic_(Create_optimizer); gttic_(Create_optimizer);
GaussNewtonOptimizer optimizer(measurements, initial); GaussNewtonParams params;
params.linearSolverType = SuccessiveLinearizationParams::MULTIFRONTAL_QR;
GaussNewtonOptimizer optimizer(measurements, initial, params);
gttoc_(Create_optimizer); gttoc_(Create_optimizer);
double lastError; double lastError;
do { do {