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

fix a switch bug

release/4.3a0
Yong-Dian Jian 2012-06-03 02:53:17 +00:00
parent a000745799
commit fd8ec0a605
1 changed files with 6 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam/nonlinear/SuccessiveLinearizationOptimizer.h
View File

@ -32,8 +32,7 @@ public:
SEQUENTIAL_CHOLESKY,
SEQUENTIAL_QR,
CHOLMOD, /* Experimental Flag */
PCG, /* Experimental Flag */
LSPCG /* Experimental Flag */
CG, /* Experimental Flag */
};
LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer
@ -62,11 +61,8 @@ public:
case CHOLMOD:
std::cout << " linear solver type: CHOLMOD\n";
break;
case PCG:
std::cout << " linear solver type: PCG\n";
break;
case LSPCG:
std::cout << " linear solver type: LSPCG\n";
case CG:
std::cout << " linear solver type: CG\n";
break;
default:
std::cout << " linear solver type: (invalid)\n";
@ -94,16 +90,16 @@ public:
}
inline bool isCG() const {
return (linearSolverType == PCG || linearSolverType == LSPCG);
return (linearSolverType == CG);
}
GaussianFactorGraph::Eliminate getEliminationFunction() {
switch (linearSolverType) {
case MULTIFRONTAL_CHOLESKY:
case MULTIFRONTAL_QR:
case SEQUENTIAL_CHOLESKY:
return EliminatePreferCholesky;
case SEQUENTIAL_CHOLESKY:
case MULTIFRONTAL_QR:
case SEQUENTIAL_QR:
return EliminateQR;