From c5b4d731ccd89034d9a5d8bfaa116600e1ca7e77 Mon Sep 17 00:00:00 2001
From: Sungtae An <stan84@gatech.edu>
Date: Mon, 8 Dec 2014 18:03:40 -0500
Subject: [PATCH] Correct Yond-Dian's name

---
 gtsam/linear/ConjugateGradientSolver.cpp |  2 +-
 gtsam/linear/ConjugateGradientSolver.h   |  2 +-
 gtsam/linear/PCGSolver.cpp               | 11 ++---------
 gtsam/linear/Preconditioner.cpp          |  3 ++-
 gtsam/linear/Preconditioner.h            | 12 +++++++-----
 5 files changed, 13 insertions(+), 17 deletions(-)

diff --git a/gtsam/linear/ConjugateGradientSolver.cpp b/gtsam/linear/ConjugateGradientSolver.cpp
index 0505f6c01..5e7e08f61 100644
--- a/gtsam/linear/ConjugateGradientSolver.cpp
+++ b/gtsam/linear/ConjugateGradientSolver.cpp
@@ -2,7 +2,7 @@
  * ConjugateGradientSolver.cpp
  *
  *  Created on: Jun 4, 2014
- *      Author: ydjian
+ *      Author: Yong-Dian Jian
  */
 
 #include <gtsam/linear/ConjugateGradientSolver.h>
diff --git a/gtsam/linear/ConjugateGradientSolver.h b/gtsam/linear/ConjugateGradientSolver.h
index 5bf793505..91b58c2d4 100644
--- a/gtsam/linear/ConjugateGradientSolver.h
+++ b/gtsam/linear/ConjugateGradientSolver.h
@@ -12,8 +12,8 @@
 /**
  *  @file   ConjugateGradientSolver.h
  *  @brief  Implementation of Conjugate Gradient solver for a linear system
+ *  @author Yong-Dian Jian
  *  @author Sungtae An
- *  @author ydjian
  *  @date   Nov 6, 2014
  **/
 
diff --git a/gtsam/linear/PCGSolver.cpp b/gtsam/linear/PCGSolver.cpp
index 02f8097ce..ffb744239 100644
--- a/gtsam/linear/PCGSolver.cpp
+++ b/gtsam/linear/PCGSolver.cpp
@@ -2,21 +2,14 @@
  * PCGSolver.cpp
  *
  *  Created on: Feb 14, 2012
- *      Author: ydjian
+ *      Author: Yong-Dian Jian
  *      Author: Sungtae An
  */
 
 #include <gtsam/linear/GaussianFactorGraph.h>
-//#include <gtsam/inference/FactorGraph-inst.h>
-//#include <gtsam/linear/FactorGraphUtil-inl.h>
-//#include <gtsam/linear/JacobianFactorGraph.h>
-//#include <gtsam/linear/LSPCGSolver.h>
 #include <gtsam/linear/PCGSolver.h>
 #include <gtsam/linear/Preconditioner.h>
-//#include <gtsam/linear/SuiteSparseUtil.h>
-//#include <gtsam/linear/ConjugateGradientMethod-inl.h>
-//#include <gsp2/gtsam-interface-sbm.h>
-//#include <ydjian/tool/ThreadSafeTimer.h>
+
 #include <boost/algorithm/string.hpp>
 #include <iostream>
 #include <stdexcept>
diff --git a/gtsam/linear/Preconditioner.cpp b/gtsam/linear/Preconditioner.cpp
index 576274de2..cef419c3c 100644
--- a/gtsam/linear/Preconditioner.cpp
+++ b/gtsam/linear/Preconditioner.cpp
@@ -2,7 +2,8 @@
  * Preconditioner.cpp
  *
  *  Created on: Jun 2, 2014
- *      Author: ydjian
+ *      Author: Yong-Dian Jian
+ *      Author: Sungtae An
  */
 
 #include <gtsam/inference/FactorGraph-inst.h>
diff --git a/gtsam/linear/Preconditioner.h b/gtsam/linear/Preconditioner.h
index 10ceb78a9..623b29863 100644
--- a/gtsam/linear/Preconditioner.h
+++ b/gtsam/linear/Preconditioner.h
@@ -2,7 +2,8 @@
  * Preconditioner.h
  *
  *  Created on: Jun 2, 2014
- *      Author: ydjian
+ *      Author: Yong-Dian Jian
+ *      Author: Sungtae An
  */
 
 #pragma once
@@ -57,7 +58,8 @@ struct GTSAM_EXPORT PreconditionerParameters {
  };
 
 /* PCG aims to solve the problem: A x = b by reparametrizing it as
- * S^t A S y = S^t b   or   M A x = M b, where A \approx S S, or A \approx M
+ * L^{-1} A L^{-T} y = L^{-1} b   or   M^{-1} A x = M^{-1} b,
+ * where A \approx L L^{T}, or A \approx M
  * The goal of this class is to provide a general interface to all preconditioners */
 class GTSAM_EXPORT Preconditioner {
 public:
@@ -70,15 +72,15 @@ public:
 
   /* Computation Interfaces */
 
-  /* implement x = S^{-1} y */
+  /* implement x = L^{-1} y */
   virtual void solve(const Vector& y, Vector &x) const = 0;
 //  virtual void solve(const VectorValues& y, VectorValues &x) const = 0;
 
-  /* implement x = S^{-T} y */
+  /* implement x = L^{-T} y */
   virtual void transposeSolve(const Vector& y, Vector& x) const = 0;
 //  virtual void transposeSolve(const VectorValues& y, VectorValues &x) const = 0;
 
-//  /* implement x = S^{-1} S^{-T} y */
+//  /* implement x = L^{-1} L^{-T} y */
 //  virtual void fullSolve(const Vector& y, Vector &x) const = 0;
 //  virtual void fullSolve(const VectorValues& y, VectorValues &x) const = 0;