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fix optional jacobian check

release/4.3a0
Mustafa Mukadam 2018-01-19 16:45:28 -05:00
parent 5e5e3fffb2
commit 0c14c11c85
1 changed files with 1 additions and 1 deletions
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2
gtsam/slam/BetweenFactor.h
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@ -95,7 +95,7 @@ namespace gtsam {
typename traits<T>::ChartJacobian::Jacobian Hlocal;
Vector rval = traits<T>::Local(measured_, hx, boost::none, (H1 || H2) ? &Hlocal : 0);
if (H1) *H1 = Hlocal * (*H1);
if (H1) *H2 = Hlocal * (*H2);
if (H2) *H2 = Hlocal * (*H2);
return rval;
#else
return traits<T>::Local(measured_, hx);