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Remove operator^ from Matrix and SubgraphPreconditioner #1969

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merged 3 commits into from
Jan 11, 2025
Merged

Remove operator^ from Matrix and SubgraphPreconditioner #1969

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a0ae31f
Remove operator^ from Matrix and SubgraphPreconditioner
calcmogul Dec 29, 2024
5a44974
Reverted interface changes that are unnecessary to make the code compile
calcmogul Jan 10, 2025
7996009
Fix invalid use of operator^ in matrix test
calcmogul Jan 10, 2025
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11 changes: 0 additions & 11 deletions gtsam/base/Matrix.cpp
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Expand Up @@ -126,17 +126,6 @@ bool linear_dependent(const Matrix& A, const Matrix& B, double tol) {
}

/* ************************************************************************* */
Vector operator^(const Matrix& A, const Vector & v) {
if (A.rows()!=v.size()) {
throw std::invalid_argument("Matrix operator^ : A.m(" + std::to_string(A.rows()) + ")!=v.size(" +
std::to_string(v.size()) + ")");
}
// Vector vt = v.transpose();
// Vector vtA = vt * A;
// return vtA.transpose();
return A.transpose() * v;
}

const Eigen::IOFormat& matlabFormat() {
static const Eigen::IOFormat matlab(
Eigen::StreamPrecision, // precision
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6 changes: 0 additions & 6 deletions gtsam/base/Matrix.h
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Expand Up @@ -132,12 +132,6 @@ GTSAM_EXPORT bool linear_independent(const Matrix& A, const Matrix& B, double to
*/
GTSAM_EXPORT bool linear_dependent(const Matrix& A, const Matrix& B, double tol = 1e-9);

/**
* overload ^ for trans(A)*v
* We transpose the vectors for speed.
*/
GTSAM_EXPORT Vector operator^(const Matrix& A, const Vector & v);

/** products using old-style format to improve compatibility */
template<class MATRIX>
inline MATRIX prod(const MATRIX& A, const MATRIX&B) {
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2 changes: 1 addition & 1 deletion gtsam/base/tests/testMatrix.cpp
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Expand Up @@ -567,7 +567,7 @@ TEST(Matrix, matrix_vector_multiplication )
Vector AtAv = Vector3(142., 188., 234.);

EQUALITY(A*v,Av);
EQUALITY(A^Av,AtAv);
EQUALITY(A.transpose() * Av,AtAv);
}

/* ************************************************************************* */
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4 changes: 2 additions & 2 deletions gtsam/linear/iterative.h
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Expand Up @@ -61,7 +61,7 @@ namespace gtsam {

/** Apply operator A'*e */
Vector operator^(const Vector& e) const {
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return A_ ^ e;
return A_.transpose() * e;
}

/**
Expand All @@ -71,7 +71,7 @@ namespace gtsam {

/** gradient of objective function 0.5*|Ax-b_|^2 at x = A_'*(Ax-b_) */
Vector gradient(const Vector& x) const {
return A() ^ (A() * x - b());
return A().transpose() * (A() * x - b());
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}

/** Apply operator A */
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