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[BUGFIX] Fix Evaluate Hessians for Matrices of a given dimension.

release/4.3a0
ivan 2016-03-07 10:14:27 -05:00
parent e78f73cfe9
commit 1c87f9d07a
1 changed files with 2 additions and 2 deletions
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4
gtsam_unstable/nonlinear/NonlinearConstraint.h
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@ -107,8 +107,8 @@ public:
virtual void evaluateHessians(const X& x1, std::vector<Matrix>& G11) const { virtual void evaluateHessians(const X& x1, std::vector<Matrix>& G11) const {
static const bool debug = false; static const bool debug = false;
typedef Eigen::Matrix<double, X1Dim, 1> actual_size;
boost::function<Vector(const X&)> vecH1( boost::function<actual_size(const X&)> vecH1(
boost::bind(&This::vectorizeH1t, this, _1)); boost::bind(&This::vectorizeH1t, this, _1));
Matrix G11all = numericalDerivative11(vecH1, x1, 1e-5); Matrix G11all = numericalDerivative11(vecH1, x1, 1e-5);