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Cast diagonalSize() to Scalar before multiplication. Without this, automatic differentiation in Ceres breaks because Scalar is a custom type that does not support multiplication by Index.

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Rasmus Munk Larsen 2018-08-09 11:09:10 -07:00
parent 131ed1191f
commit 8603d80029
1 changed files with 2 additions and 2 deletions
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4
Eigen/src/LU/FullPivLU.h
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@ -53,7 +53,7 @@ template<typename _MatrixType> struct traits<FullPivLU<_MatrixType> >
* Output: \verbinclude class_FullPivLU.out * Output: \verbinclude class_FullPivLU.out
* *
* This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism. * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
* *
* \sa MatrixBase::fullPivLu(), MatrixBase::determinant(), MatrixBase::inverse() * \sa MatrixBase::fullPivLu(), MatrixBase::determinant(), MatrixBase::inverse()
*/ */
template<typename _MatrixType> class FullPivLU template<typename _MatrixType> class FullPivLU
@ -320,7 +320,7 @@ template<typename _MatrixType> class FullPivLU
return m_usePrescribedThreshold ? m_prescribedThreshold return m_usePrescribedThreshold ? m_prescribedThreshold
// this formula comes from experimenting (see "LU precision tuning" thread on the list) // this formula comes from experimenting (see "LU precision tuning" thread on the list)
// and turns out to be identical to Higham's formula used already in LDLt. // and turns out to be identical to Higham's formula used already in LDLt.
: NumTraits<Scalar>::epsilon() * m_lu.diagonalSize(); : NumTraits<Scalar>::epsilon() * Scalar(m_lu.diagonalSize());
} }
/** \returns the rank of the matrix of which *this is the LU decomposition. /** \returns the rank of the matrix of which *this is the LU decomposition.