diff options
Diffstat (limited to 'internal/ceres/schur_eliminator_test.cc')
| -rw-r--r-- | internal/ceres/schur_eliminator_test.cc | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/internal/ceres/schur_eliminator_test.cc b/internal/ceres/schur_eliminator_test.cc index a7e96ae..bed8f3a 100644 --- a/internal/ceres/schur_eliminator_test.cc +++ b/internal/ceres/schur_eliminator_test.cc @@ -112,7 +112,7 @@ class SchurEliminatorTest : public ::testing::Test { P.block(row, row, block_size, block_size) = P .block(row, row, block_size, block_size) - .ldlt() + .llt() .solve(Matrix::Identity(block_size, block_size)); row += block_size; } @@ -121,7 +121,7 @@ class SchurEliminatorTest : public ::testing::Test { .triangularView<Eigen::Upper>() = R - Q.transpose() * P * Q; rhs_expected = g.tail(schur_size) - Q.transpose() * P * g.head(num_eliminate_cols); - sol_expected = H.ldlt().solve(g); + sol_expected = H.llt().solve(g); } void EliminateSolveAndCompare(const VectorRef& diagonal, @@ -160,7 +160,7 @@ class SchurEliminatorTest : public ::testing::Test { Vector reduced_sol = lhs_ref .selfadjointView<Eigen::Upper>() - .ldlt() + .llt() .solve(rhs); // Solution to the linear least squares problem. |