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Merged in parthaEth/eigen (pull request PR-175)

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Static casting scalar types so as to let chlesky module of eigen work with ceres
This commit is contained in:
Benoit Steiner 2016-04-07 22:10:14 -07:00
commit 2f2801f096
1 changed files with 6 additions and 6 deletions
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12
Eigen/src/Cholesky/LDLT.h
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@ -266,8 +266,8 @@ template<> struct ldlt_inplace<Lower>
if (size <= 1) if (size <= 1)
{ {
transpositions.setIdentity(); transpositions.setIdentity();
if (numext::real(mat.coeff(0,0)) > 0) sign = PositiveSemiDef; if (numext::real(mat.coeff(0,0)) > static_cast<Scalar>(0) ) sign = PositiveSemiDef;
else if (numext::real(mat.coeff(0,0)) < 0) sign = NegativeSemiDef; else if (numext::real(mat.coeff(0,0)) < static_cast<Scalar>(0)) sign = NegativeSemiDef;
else sign = ZeroSign; else sign = ZeroSign;
return true; return true;
} }
@ -324,12 +324,12 @@ template<> struct ldlt_inplace<Lower>
A21 /= realAkk; A21 /= realAkk;
if (sign == PositiveSemiDef) { if (sign == PositiveSemiDef) {
if (realAkk < 0) sign = Indefinite; if (realAkk < static_cast<Scalar>(0)) sign = Indefinite;
} else if (sign == NegativeSemiDef) { } else if (sign == NegativeSemiDef) {
if (realAkk > 0) sign = Indefinite; if (realAkk > static_cast<Scalar>(0)) sign = Indefinite;
} else if (sign == ZeroSign) { } else if (sign == ZeroSign) {
if (realAkk > 0) sign = PositiveSemiDef; if (realAkk > static_cast<Scalar>(0)) sign = PositiveSemiDef;
else if (realAkk < 0) sign = NegativeSemiDef; else if (realAkk < static_cast<Scalar>(0)) sign = NegativeSemiDef;
} }
} }