Merge branch 'feature/LevenbergMarquardt'

examples/Data/dubrovnik-3-7-18-pre.txt

@@ -0,0 +1,79 @@
+3 7 18
+
+0 0     -3.859900e+02 3.871200e+02
+1 0     -3.844000e+01 4.921200e+02
+2 0     -6.679200e+02 1.231100e+02
+0 1     3.838800e+02 -1.529999e+01
+1 1     5.597500e+02 -1.061500e+02
+0 2     5.915500e+02 1.364400e+02
+1 2     8.638600e+02 -2.346997e+01
+2 2     4.947200e+02 1.125200e+02
+0 3     5.925000e+02 1.257500e+02
+1 3     8.610800e+02 -3.521997e+01
+2 3     4.985400e+02 1.015600e+02
+0 4     3.487200e+02 5.583800e+02
+1 4     7.760300e+02 4.835300e+02
+2 4     7.780029e+00 3.263500e+02
+0 5     1.401001e+01 9.642001e+01
+1 5     2.071300e+02 1.183600e+02
+1 6     5.431801e+02 2.948100e+02
+2 6     -5.841998e+01 1.108300e+02
+
+-1.6943983532198115e-02
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+-1.2055995050700867e+01
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+
+1.3051100355717297e+01
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+
+1.3060946673472820e+01
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+-2.9759080795372942e+01
+
+1.4265764475421857e+01
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+
+-2.5292283211391348e-01
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+
+7.6465738085189585e+00
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+-5.2070299568846060e+01
+

gtsam/linear/HessianFactor.cpp

@@ -367,9 +367,10 @@ void HessianFactor::hessianDiagonal(double* d) const {
   typedef Eigen::Map<DVector> DMap;
 
   // Loop over all variables in the factor
-    for (DenseIndex j = 0; j < (DenseIndex)size(); ++j) {
+    for (DenseIndex pos = 0; pos < (DenseIndex)size(); ++pos) {
+      Key j = keys_[pos];
       // Get the diagonal block, and insert its diagonal
-      Matrix B = info_(j, j).selfadjointView();
+      Matrix B = info_(pos, pos).selfadjointView();
       DVector dj =  B.diagonal();
       DMap(d + 9 * j) += dj;
     }

gtsam/linear/tests/testHessianFactorUnordered.cpp

@@ -471,7 +471,7 @@ TEST(HessianFactor, hessianDiagonal)
   LONGS_EQUAL(2,actualBD.size());
   EXPECT(assert_equal(G11,actualBD[0]));
   EXPECT(assert_equal(G22,actualBD[1]));
-  }
+}
 
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr);}