12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed warnings

release/4.3a0
Richard Roberts 2010-11-05 19:53:28 +00:00
parent 39b1f8eb41
commit 01c4e5f892
1 changed files with 8 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
gtsam/nonlinear/NonlinearFactor.h
View File

@ -229,9 +229,8 @@ namespace gtsam {
// TODO pass unwhitened + noise model to Gaussian factor
SharedDiagonal constrained =
boost::shared_dynamic_cast<noiseModel::Constrained>(this->noiseModel_);
if (constrained.get() != NULL) {
if (constrained.get() != NULL)
return GaussianFactor::shared_ptr(new GaussianFactor(var, A, b, constrained));
}
this->noiseModel_->WhitenInPlace(A);
this->noiseModel_->whitenInPlace(b);
return GaussianFactor::shared_ptr(new GaussianFactor(var, A, b,
@ -365,7 +364,7 @@ namespace gtsam {
virtual IndexFactor::shared_ptr symbolic(const Ordering& ordering) const {
const Index var1 = ordering[key1_], var2 = ordering[key2_];
if(var1 < var2)
return IndexFactor::shared_ptr(new IndexFactor(var1, var2));
return IndexFactor::shared_ptr(new IndexFactor(var1, var2));
else
return IndexFactor::shared_ptr(new IndexFactor(var2, var1));
}
@ -511,8 +510,10 @@ namespace gtsam {
else if(var3 < var2 && var2 < var1)
return GaussianFactor::shared_ptr(
new GaussianFactor(var3, A3, var2, A2, var1, A1, b, noiseModel::Unit::Create(b.size())));
else
else {
assert(false);
return GaussianFactor::shared_ptr();
}
}
/**
@ -533,8 +534,10 @@ namespace gtsam {
return IndexFactor::shared_ptr(new IndexFactor(ordering[key3_], ordering[key1_], ordering[key2_]));
else if(var3 < var2 && var2 < var1)
return IndexFactor::shared_ptr(new IndexFactor(ordering[key3_], ordering[key2_], ordering[key1_]));
else
else {
assert(false);
return GaussianFactor::shared_ptr();
}
}
/** methods to retrieve keys */