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