removed extra "else"
parent
5677bdb6c1
commit
0c865fa52a
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@ -276,7 +276,7 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
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Key key_j = nonuniqueKeys.at(j);
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if(i==j){
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augmentedHessianUniqueKeys.updateDiagonalBlock( keyToSlotMap[key_i] , augmentedHessian.diagonalBlock(i));
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}else if(i < j){
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}else{ // (i < j)
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if( keyToSlotMap[key_i] != keyToSlotMap[key_j] ){
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augmentedHessianUniqueKeys.updateOffDiagonalBlock( keyToSlotMap[key_i] , keyToSlotMap[key_j],
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augmentedHessian.aboveDiagonalBlock(i,j));
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@ -286,10 +286,6 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
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augmentedHessian.aboveDiagonalBlock(i,j).transpose());
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}
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}
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else{ //TODO: remove else
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augmentedHessianUniqueKeys.updateOffDiagonalBlock( keyToSlotMap[key_i] , keyToSlotMap[key_j],
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augmentedHessian.aboveDiagonalBlock(j,i).transpose());
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}
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}
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}
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augmentedHessianUniqueKeys.updateDiagonalBlock(nrUniqueKeys, augmentedHessian.diagonalBlock(nrNonuniqueKeys));
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