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re-add the gotos

release/4.3a0
Varun Agrawal 2024-09-23 22:57:05 -04:00
parent 6d3bc21a18
commit 2682cde259
1 changed files with 5 additions and 4 deletions
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9
gtsam/linear/NoiseModel.cpp
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@ -286,10 +286,10 @@ Diagonal::shared_ptr Diagonal::Variances(const Vector& variances, bool smart) {
// check whether all the same entry // check whether all the same entry
if ((variances.array() == variances(0)).all()) { if ((variances.array() == variances(0)).all()) {
return Isotropic::Variance(variances.size(), variances(0), true); return Isotropic::Variance(variances.size(), variances(0), true);
} else { } else
return shared_ptr(new Diagonal(variances.cwiseSqrt())); goto full;
}
} }
full:
return shared_ptr(new Diagonal(variances.cwiseSqrt())); return shared_ptr(new Diagonal(variances.cwiseSqrt()));
} }
@ -297,7 +297,7 @@ Diagonal::shared_ptr Diagonal::Variances(const Vector& variances, bool smart) {
Diagonal::shared_ptr Diagonal::Sigmas(const Vector& sigmas, bool smart) { Diagonal::shared_ptr Diagonal::Sigmas(const Vector& sigmas, bool smart) {
if (smart) { if (smart) {
size_t n = sigmas.size(); size_t n = sigmas.size();
if (n == 0) return Diagonal::shared_ptr(new Diagonal(sigmas)); if (n == 0) goto full;
// look for zeros to make a constraint // look for zeros to make a constraint
if ((sigmas.array() < 1e-8).any()) { if ((sigmas.array() < 1e-8).any()) {
@ -309,6 +309,7 @@ Diagonal::shared_ptr Diagonal::Sigmas(const Vector& sigmas, bool smart) {
return Isotropic::Sigma(n, sigmas(0), true); return Isotropic::Sigma(n, sigmas(0), true);
} }
} }
full:
return Diagonal::shared_ptr(new Diagonal(sigmas)); return Diagonal::shared_ptr(new Diagonal(sigmas));
} }