Merge remote-tracking branch 'origin/develop' into fix/expression_leak
						commit
						1e2c29fac8
					
				|  | @ -28,6 +28,7 @@ | |||
| #include <cstdint> | ||||
| 
 | ||||
| #include <exception> | ||||
| #include <string> | ||||
| 
 | ||||
| #ifdef GTSAM_USE_TBB | ||||
| #include <tbb/scalable_allocator.h> | ||||
|  |  | |||
|  | @ -67,8 +67,7 @@ class TranslationFactor : public NoiseModelFactor2<Point3, Point3> { | |||
|       boost::optional<Matrix&> H2 = boost::none) const override { | ||||
|     const Point3 dir = Tb - Ta; | ||||
|     Matrix33 H_predicted_dir; | ||||
|     const Point3 predicted = | ||||
|         dir.normalized(H1 || H2 ? &H_predicted_dir : nullptr); | ||||
|     const Point3 predicted = normalize(dir, H1 || H2 ? &H_predicted_dir : nullptr); | ||||
|     if (H1) *H1 = -H_predicted_dir; | ||||
|     if (H2) *H2 = H_predicted_dir; | ||||
|     return predicted - measured_w_aZb_; | ||||
|  |  | |||
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