From 47396871a3d0b2a3158671a53ccd9e4ccc5809a4 Mon Sep 17 00:00:00 2001 From: Sungtae An Date: Fri, 5 Dec 2014 15:43:26 -0500 Subject: [PATCH] Slightly modify some comments --- gtsam/linear/PCGSolver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/linear/PCGSolver.cpp b/gtsam/linear/PCGSolver.cpp index 23f4485f9..02f8097ce 100644 --- a/gtsam/linear/PCGSolver.cpp +++ b/gtsam/linear/PCGSolver.cpp @@ -79,7 +79,7 @@ void GaussianFactorGraphSystem::residual(const Vector &x, Vector &r) const { /*****************************************************************************/ void GaussianFactorGraphSystem::multiply(const Vector &x, Vector& AtAx) const { - /* implement A^t*A*x, assume x and AtAx are pre-allocated */ + /* implement A^T*(A*x), assume x and AtAx are pre-allocated */ // Build a VectorValues for Vector x VectorValues vvX = buildVectorValues(x,keyInfo_); @@ -99,7 +99,7 @@ void GaussianFactorGraphSystem::multiply(const Vector &x, Vector& AtAx) const { void GaussianFactorGraphSystem::getb(Vector &b) const { /* compute rhs, assume b pre-allocated */ - // Get whitened r.h.s (b vector) from each factor in the form of VectorValues + // Get whitened r.h.s (A^T * b) from each factor in the form of VectorValues VectorValues vvb = gfg_.gradientAtZero(); // Make the result as Vector form