Commit 257ddb54 authored by jcarpent's avatar jcarpent
Browse files

[Algo] Small improve of computation times in Cholesky algo

parent dc1dd442
......@@ -62,9 +62,9 @@ namespace se3
.cwiseProduct(D.segment(j+1,NVT));
D[j] = M(j,j) - U.row(j).segment(j+1,NVT) * DUt;
const double dj_inv(1./D[j]);
for(int _i = data.parents_fromRow[(Model::Index)j];_i >= 0;_i = data.parents_fromRow[(Model::Index)_i])
U(_i,j) = (M(_i,j) - U.row(_i).segment(j+1,NVT).dot(DUt)) / D[j];
U(_i,j) = (M(_i,j) - U.row(_i).segment(j+1,NVT).dot(DUt)) * dj_inv;
}
return data.U;
......
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