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Changed to size_t, still fails some assertion

release/4.3a0
dellaert 2014-05-28 21:40:58 -04:00
parent 432fce817e
commit 0c95959510
1 changed files with 5 additions and 5 deletions
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10
gtsam/linear/NoiseModel.cpp
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@ -208,8 +208,8 @@ Diagonal::Diagonal(const Vector& sigmas) :
Diagonal::shared_ptr Diagonal::Variances(const Vector& variances, bool smart) {
if (smart) {
// check whether all the same entry
DenseIndex j, n = variances.size();
for (j = 1; j < n; j++)
size_t n = variances.size();
for (size_t j = 1; j < n; j++)
if (variances(j) != variances(0)) goto full;
return Isotropic::Variance(n, variances(0), true);
}
@ -219,13 +219,13 @@ Diagonal::shared_ptr Diagonal::Variances(const Vector& variances, bool smart) {
/* ************************************************************************* */
Diagonal::shared_ptr Diagonal::Sigmas(const Vector& sigmas, bool smart) {
if (smart) {
DenseIndex j, n = sigmas.size();
size_t n = sigmas.size();
// look for zeros to make a constraint
for (j=0; j< n; ++j)
for (size_t j=0; j< n; ++j)
if (sigmas(j)<1e-8)
return Constrained::MixedSigmas(sigmas);
// check whether all the same entry
for (j = 1; j < n; j++)
for (size_t j = 1; j < n; j++)
if (sigmas(j) != sigmas(0)) goto full;
return Isotropic::Sigma(n, sigmas(0), true);
}