The schur eliminator treats rows with e blocks and row with
no e blocks separately. The template specialization logic only
applies to the rows with e blocks.
So, in cases where the rows with e-blocks have a fixed size f-block
but the rows without e-blocks have f-blocks of varying sizes,
DetectStructure will return a static f-block size, but we need to be
careful that we do not blindly use that static f-block size everywhere.
This patch fixes a bug where such care was not being taken, where
it was assumed that the static f-block size could be assumed for all
f-block sizes.
A new test is added, which triggers an exception in debug mode. In
release mode this error does not present itself, due to a peculiarity
of the way Eigen works.
Thanks to Werner Trobin for reporting this bug.
Change-Id: I8ae7aabf8eed8c3f9cf74b6c74d632ba44f82581
Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
unnecessarily complexity in the structure of linear solvers and preconditioners.
This is the first step towards cleaning up the Preconditioner interface.
2. Minor tweaks and cleanups to the various linear solvers.
Sameer Agarwal