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A bit more debug info in ldlPartial

release/4.3a0
Richard Roberts 2011-09-23 02:26:29 +00:00
parent 3e7c48269d
commit 019892b900
1 changed files with 7 additions and 0 deletions
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7
gtsam/base/cholesky.cpp
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@ -162,6 +162,11 @@ Eigen::LDLT<Matrix>::TranspositionType ldlPartial(Matrix& ABC, size_t nFrontal)
const size_t n = ABC.rows();
if(debug) {
cout << "Partial LDL with " << nFrontal << " frontal scalars, ";
print(ABC, "ABC: ");
}
// Compute Cholesky factorization of A, overwrites A = sqrt(D)*R
// tic(1, "ldl");
Eigen::LDLT<Matrix> ldlt;
@ -203,6 +208,8 @@ Eigen::LDLT<Matrix>::TranspositionType ldlPartial(Matrix& ABC, size_t nFrontal)
if(debug) cout << "L:\n" << Eigen::MatrixXd(ABC.bottomRightCorner(n-nFrontal,n-nFrontal).selfadjointView<Eigen::Upper>()) << endl;
// toc(3, "compute L");
if(debug) cout << "P: " << ldlt.transpositionsP().indices() << endl;
return ldlt.transpositionsP();
}