From 01c4e5f892193e233e19e774522a9f601c7f64ad Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Fri, 5 Nov 2010 19:53:28 +0000 Subject: [PATCH] Fixed warnings --- gtsam/nonlinear/NonlinearFactor.h | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index 833a85530..cd36d4305 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -229,9 +229,8 @@ namespace gtsam { // TODO pass unwhitened + noise model to Gaussian factor SharedDiagonal constrained = boost::shared_dynamic_cast(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 */