From d50f0a33cddb88d46e0ae675aaa28d60640dad15 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 4 Apr 2016 16:53:42 +0200
Subject: [PATCH] wolf auto_diff as a default auto_diff method
---
src/ceres_wrapper/ceres_manager.h | 2 +-
src/examples/test_autodiff.cpp | 2 +-
src/examples/test_wolf_autodiffwrapper.cpp | 2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/ceres_wrapper/ceres_manager.h b/src/ceres_wrapper/ceres_manager.h
index 4414cb3f8..93ecb99d9 100644
--- a/src/ceres_wrapper/ceres_manager.h
+++ b/src/ceres_wrapper/ceres_manager.h
@@ -47,7 +47,7 @@ class CeresManager
void computeCovariances(CovarianceBlocksToBeComputed _blocks = ROBOT_LANDMARKS);
- void update(const bool _self_auto_diff = false, const bool _apply_loss_function = false);
+ void update(const bool _self_auto_diff = true, const bool _apply_loss_function = false);
void addConstraint(ConstraintBase* _corr_ptr, const bool _self_auto_diff, const bool _apply_loss);
diff --git a/src/examples/test_autodiff.cpp b/src/examples/test_autodiff.cpp
index b1742b639..0815cd7ed 100644
--- a/src/examples/test_autodiff.cpp
+++ b/src/examples/test_autodiff.cpp
@@ -221,7 +221,7 @@ int main(int argc, char** argv)
std::cout << "UPDATING CERES..." << std::endl;
t1 = clock();
// update state units and constraints in ceres
- ceres_manager_ceres->update();
+ ceres_manager_ceres->update(false);
ceres_manager_wolf->update(true);
mean_times(2) += ((double) clock() - t1) / CLOCKS_PER_SEC;
diff --git a/src/examples/test_wolf_autodiffwrapper.cpp b/src/examples/test_wolf_autodiffwrapper.cpp
index 2fb450a70..c351db56a 100644
--- a/src/examples/test_wolf_autodiffwrapper.cpp
+++ b/src/examples/test_wolf_autodiffwrapper.cpp
@@ -275,7 +275,7 @@ int main(int argc, char** argv)
// BUILD SOLVER PROBLEM
std::cout << "updating ceres..." << std::endl;
t1 = clock();
- ceres_manager_ceres_diff->update();
+ ceres_manager_ceres_diff->update(false);
double t_update_ceres = ((double) clock() - t1) / CLOCKS_PER_SEC;
t1 = clock();
ceres_manager_wolf_diff->update(true);
--
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