tree 5a7b3c9afd7eaaf8eb52b57201f81711a279637c
parent 5ee2b356b35383d91d6061c836da77890175cb4f
author Sameer Agarwal <sameeragarwal@google.com> 1491060271 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1492447402 -0700

Refactor Covariance::Options::algorithm_type.

THIS IS AN API BREAKING CHANGE.

Decouple the algorithm from the sparse linear algebra
library being used to perform the computation.

Before this change

Covariance::AlgorithmType had values

DENSE_SVD
EIGEN_SPARSE_QR
SUITE_SPARSE_QR

This has been replaced by two enums now.

Covariance::Options::sparse_linear_algebra_library_type
which can take values EIGEN_SPARSE, SUITE_SPARSE or CX_SPARSE.
The last one is currently not supported.

And Covariance::Options::algorithm_type takes values

DENSE_SVD
SPARSE_QR

This sets the stage for future extensions of the covariance
computation algorithm.

Also as part of this change, the covariance computation chapter
has been made a top level chapter on its own instead of being
buried deep inside the Solving Non-linear Least Squares problem.

Change-Id: Ibfbf60902d8d17694d9ff585047a5a57d329ab22