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Merge remote-tracking branch 'origin/feature/quadratic_programming' into feature/quadratic_programming 

Conflicts:
	.cproject
	.gitignore
	gtsam/linear/GaussianFactorGraph.cpp
	gtsam/linear/GaussianFactorGraph.h
	gtsam/linear/HessianFactor.cpp
	gtsam/linear/JacobianFactor.h
	gtsam/linear/QPSolver.cpp
	gtsam/linear/tests/testQPSolver.cpp
	gtsam/nonlinear/NonlinearFactor.h
release/4.3a0
thduynguyen 2014-09-14 01:45:27 -04:00
parent df1eede30c 0fc1dc3658
commit 43a8de01c1
2 changed files with 1116 additions and 1127 deletions
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gtsam/linear/JacobianFactor.cpp
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@ -152,6 +152,9 @@ JacobianFactor::JacobianFactor(const HessianFactor& factor) :
bool success; bool success;
boost::tie(maxrank, success) = choleskyCareful(Ab_.matrix()); boost::tie(maxrank, success) = choleskyCareful(Ab_.matrix());
factor.print("HessianFactor to convert: ");
cout << "Maxrank: " << maxrank << ", success: " << int(success) << endl;
// Check for indefinite system // Check for indefinite system
if (!success) { if (!success) {
throw IndeterminantLinearSystemException(factor.keys().front()); throw IndeterminantLinearSystemException(factor.keys().front());