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Slightly modify some comments

release/4.3a0
Sungtae An 2014-12-05 15:43:26 -05:00
parent 1c9a1f7cdb
commit 47396871a3
1 changed files with 2 additions and 2 deletions
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4
gtsam/linear/PCGSolver.cpp
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@ -79,7 +79,7 @@ void GaussianFactorGraphSystem::residual(const Vector &x, Vector &r) const {
/*****************************************************************************/ /*****************************************************************************/
void GaussianFactorGraphSystem::multiply(const Vector &x, Vector& AtAx) 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 // Build a VectorValues for Vector x
VectorValues vvX = buildVectorValues(x,keyInfo_); VectorValues vvX = buildVectorValues(x,keyInfo_);
@ -99,7 +99,7 @@ void GaussianFactorGraphSystem::multiply(const Vector &x, Vector& AtAx) const {
void GaussianFactorGraphSystem::getb(Vector &b) const { void GaussianFactorGraphSystem::getb(Vector &b) const {
/* compute rhs, assume b pre-allocated */ /* 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(); VectorValues vvb = gfg_.gradientAtZero();
// Make the result as Vector form // Make the result as Vector form