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Fixed errors and warnings on linux

release/4.3a0
Richard Roberts 2013-08-12 21:32:51 +00:00
parent 3e1852d239
commit 0b58b0166a
3 changed files with 2 additions and 5 deletions
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2
gtsam/nonlinear/ISAM2-impl.cpp
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@ -201,7 +201,7 @@ void ISAM2::Impl::ExpmapMasked(Values& values, const VectorValues& delta,
assert(key_value->key == key_delta->first); assert(key_value->key == key_delta->first);
Key var = key_value->key; Key var = key_value->key;
assert(delta[var].size() == (int)key_value->value.dim()); assert(delta[var].size() == (int)key_value->value.dim());
assert(delta[var].unaryExpr(ptr_fun(isfinite<double>)).all()); assert(delta[var].allFinite());
if(mask.exists(var)) { if(mask.exists(var)) {
Value* retracted = key_value->value.retract_(delta[var]); Value* retracted = key_value->value.retract_(delta[var]);
key_value->value = *retracted; key_value->value = *retracted;

3
gtsam/nonlinear/ISAM2.cpp
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@ -258,9 +258,6 @@ ISAM2::relinearizeAffectedFactors(const FastList<Key>& affectedKeys, const FastS
// find intermediate (linearized) factors from cache that are passed into the affected area // find intermediate (linearized) factors from cache that are passed into the affected area
GaussianFactorGraph ISAM2::getCachedBoundaryFactors(Cliques& orphans) { GaussianFactorGraph ISAM2::getCachedBoundaryFactors(Cliques& orphans) {
static const bool debug = false;
GaussianFactorGraph cachedBoundary; GaussianFactorGraph cachedBoundary;
BOOST_FOREACH(sharedClique orphan, orphans) { BOOST_FOREACH(sharedClique orphan, orphans) {

2
tests/testGaussianISAM2.cpp
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@ -649,7 +649,7 @@ namespace {
//Matrix actual2AugmentedHessian = linearFactors_.augmentedHessian(); //Matrix actual2AugmentedHessian = linearFactors_.augmentedHessian();
Matrix actual3AugmentedHessian = isam.getFactorsUnsafe().linearize( Matrix actual3AugmentedHessian = isam.getFactorsUnsafe().linearize(
isam.getLinearizationPoint())->augmentedHessian(); isam.getLinearizationPoint())->augmentedHessian();
assert(actualAugmentedHessian.unaryExpr(std::ptr_fun(&std::isfinite<double>)).all()); assert(actualAugmentedHessian.allFinite());
// Check full marginalization // Check full marginalization
//cout << "treeEqual" << endl; //cout << "treeEqual" << endl;