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removed extra "else"

release/4.3a0
lcarlone 2021-03-29 23:00:38 -04:00
parent 5677bdb6c1
commit 0c865fa52a
1 changed files with 1 additions and 5 deletions
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6
gtsam_unstable/slam/SmartStereoProjectionFactorPP.h
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@ -276,7 +276,7 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
Key key_j = nonuniqueKeys.at(j); Key key_j = nonuniqueKeys.at(j);
if(i==j){ if(i==j){
augmentedHessianUniqueKeys.updateDiagonalBlock( keyToSlotMap[key_i] , augmentedHessian.diagonalBlock(i)); augmentedHessianUniqueKeys.updateDiagonalBlock( keyToSlotMap[key_i] , augmentedHessian.diagonalBlock(i));
}else if(i < j){ }else{ // (i < j)
if( keyToSlotMap[key_i] != keyToSlotMap[key_j] ){ if( keyToSlotMap[key_i] != keyToSlotMap[key_j] ){
augmentedHessianUniqueKeys.updateOffDiagonalBlock( keyToSlotMap[key_i] , keyToSlotMap[key_j], augmentedHessianUniqueKeys.updateOffDiagonalBlock( keyToSlotMap[key_i] , keyToSlotMap[key_j],
augmentedHessian.aboveDiagonalBlock(i,j)); augmentedHessian.aboveDiagonalBlock(i,j));
@ -286,10 +286,6 @@ class SmartStereoProjectionFactorPP : public SmartStereoProjectionFactor {
augmentedHessian.aboveDiagonalBlock(i,j).transpose()); augmentedHessian.aboveDiagonalBlock(i,j).transpose());
} }
} }
else{ //TODO: remove else
augmentedHessianUniqueKeys.updateOffDiagonalBlock( keyToSlotMap[key_i] , keyToSlotMap[key_j],
augmentedHessian.aboveDiagonalBlock(j,i).transpose());
}
} }
} }
augmentedHessianUniqueKeys.updateDiagonalBlock(nrUniqueKeys, augmentedHessian.diagonalBlock(nrNonuniqueKeys)); augmentedHessianUniqueKeys.updateDiagonalBlock(nrUniqueKeys, augmentedHessian.diagonalBlock(nrNonuniqueKeys));