Updating AccelerationMinimizer to not do an unnecessary QR factorization

keenon · Nov 14, 2024 · 1982385 · 1982385
1 parent 81a386b
commit 1982385
Show file tree

Hide file tree

Showing 2 changed files with 0 additions and 10 deletions.
diff --git a/dart/utils/AccelerationMinimizer.cpp b/dart/utils/AccelerationMinimizer.cpp
@@ -82,14 +82,6 @@ AccelerationMinimizer::AccelerationMinimizer(
       = Eigen::SparseMatrix<s_t>(accTimesteps + 4 + mTimesteps, mTimesteps);
   mB_sparse.setFromTriplets(tripletList.begin(), tripletList.end());
   mB_sparse.makeCompressed();
-  mB_sparseSolver.analyzePattern(mB_sparse);
-  mB_sparseSolver.factorize(mB_sparse);
-  if (mB_sparseSolver.info() != Eigen::Success)
-  {
-    std::cout << "mB_sparseSolver.factorize(mB_sparse) error: "
-              << mB_sparseSolver.lastErrorMessage() << std::endl;
-  }
-  assert(mB_sparseSolver.info() == Eigen::Success);
 }
 
 Eigen::VectorXs AccelerationMinimizer::minimize(Eigen::VectorXs series)

diff --git a/dart/utils/AccelerationMinimizer.hpp b/dart/utils/AccelerationMinimizer.hpp
@@ -43,8 +43,6 @@ class AccelerationMinimizer
   bool mDebugIterationBackoff;
   s_t mConvergenceTolerance;
   Eigen::SparseMatrix<s_t> mB_sparse;
-  Eigen::SparseQR<Eigen::SparseMatrix<s_t>, Eigen::NaturalOrdering<int>>
-      mB_sparseSolver;
 };
 
 } // namespace utils