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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
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13
gtsam/nonlinear/NonlinearFactor.h
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@ -229,9 +229,8 @@ namespace gtsam {
// TODO pass unwhitened + noise model to Gaussian factor // TODO pass unwhitened + noise model to Gaussian factor
SharedDiagonal constrained = SharedDiagonal constrained =
boost::shared_dynamic_cast<noiseModel::Constrained>(this->noiseModel_); 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)); return GaussianFactor::shared_ptr(new GaussianFactor(var, A, b, constrained));
}
this->noiseModel_->WhitenInPlace(A); this->noiseModel_->WhitenInPlace(A);
this->noiseModel_->whitenInPlace(b); this->noiseModel_->whitenInPlace(b);
return GaussianFactor::shared_ptr(new GaussianFactor(var, A, 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 { virtual IndexFactor::shared_ptr symbolic(const Ordering& ordering) const {
const Index var1 = ordering[key1_], var2 = ordering[key2_]; const Index var1 = ordering[key1_], var2 = ordering[key2_];
if(var1 < var2) if(var1 < var2)
return IndexFactor::shared_ptr(new IndexFactor(var1, var2)); return IndexFactor::shared_ptr(new IndexFactor(var1, var2));
else else
return IndexFactor::shared_ptr(new IndexFactor(var2, var1)); return IndexFactor::shared_ptr(new IndexFactor(var2, var1));
} }
@ -511,8 +510,10 @@ namespace gtsam {
else if(var3 < var2 && var2 < var1) else if(var3 < var2 && var2 < var1)
return GaussianFactor::shared_ptr( return GaussianFactor::shared_ptr(
new GaussianFactor(var3, A3, var2, A2, var1, A1, b, noiseModel::Unit::Create(b.size()))); new GaussianFactor(var3, A3, var2, A2, var1, A1, b, noiseModel::Unit::Create(b.size())));
else else {
assert(false); assert(false);
return GaussianFactor::shared_ptr();
}
} }
/** /**
@ -533,8 +534,10 @@ namespace gtsam {
return IndexFactor::shared_ptr(new IndexFactor(ordering[key3_], ordering[key1_], ordering[key2_])); return IndexFactor::shared_ptr(new IndexFactor(ordering[key3_], ordering[key1_], ordering[key2_]));
else if(var3 < var2 && var2 < var1) else if(var3 < var2 && var2 < var1)
return IndexFactor::shared_ptr(new IndexFactor(ordering[key3_], ordering[key2_], ordering[key1_])); return IndexFactor::shared_ptr(new IndexFactor(ordering[key3_], ordering[key2_], ordering[key1_]));
else else {
assert(false); assert(false);
return GaussianFactor::shared_ptr();
}
} }
/** methods to retrieve keys */ /** methods to retrieve keys */