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Sameer Agarwal
060a850602
Sparse Cholesky factorization is not rank revealing. Therefore this algorithm cannot reliably tell when the Jacobian matrix is rank deficient or so poorly conditioned that the covariance matrix cannot be estimated. Making things worse, this algorithm works on the normal equations, which makes the conditioning problem much worse. This change, deletes the SPARSE_CHOLESKY algorithm in the covariance estimation code. Also to make the naming consistent, it renames SPARSE_QR -> SUITE_SPARSE_QR so that it parallels EIGEN_SPARSE_QR. Also, since we now have EIGEN_SPARSE_QR, we can default to using it when SuiteSparse is not available instead of DENSE_SVD, which generally speaking should only be used by folks who are dealing with small rank deficient jacobians. Change-Id: I8b134c7e8a2e86ca374371f185b19f1c3e74349c