Commit ace8d662 authored by Gabriele Buondonno's avatar Gabriele Buondonno
Browse files

Fix Cholesky spelling

parent f786a873
......@@ -290,7 +290,7 @@ namespace eiquadprog
size_t iq; // current number of active constraints
double psi; // current sum of constraint violations
double c1; // Hessian trace
double c2; // Hessian Chowlesky factor trace
double c2; // Hessian Cholesky factor trace
double ss; // largest constraint violation (negative for violation)
double R_norm; // norm of matrix R
const double inf = std::numeric_limits<double>::infinity();
......@@ -309,9 +309,9 @@ namespace eiquadprog
/* decompose the matrix Hess in the form LL^T */
if(!is_inverse_provided_)
{
START_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_CHOWLESKY_DECOMPOSITION);
START_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_CHOLESKY_DECOMPOSITION);
chol_.compute(Hess);
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_CHOWLESKY_DECOMPOSITION);
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_CHOLESKY_DECOMPOSITION);
}
......@@ -324,14 +324,14 @@ namespace eiquadprog
// m_J = L^-T
if(!is_inverse_provided_)
{
START_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_CHOWLESKY_INVERSE);
START_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_CHOLESKY_INVERSE);
m_J.setIdentity(nVars, nVars);
#ifdef OPTIMIZE_HESSIAN_INVERSE
chol_.matrixU().solveInPlace(m_J);
#else
m_J = chol_.matrixU().solve(m_J);
#endif
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_CHOWLESKY_INVERSE);
STOP_PROFILER_EIQUADPROG_FAST(EIQUADPROG_FAST_CHOLESKY_INVERSE);
}
c2 = m_J.trace();
......
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