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Fixed compile error on linux

release/4.3a0
Richard Roberts 2013-10-03 19:10:13 +00:00
parent 4996db5023
commit 2ad0cd4417
2 changed files with 10 additions and 10 deletions
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8
gtsam/linear/NoiseModel.cpp
View File

@ -107,7 +107,7 @@ void Gaussian::WhitenInPlace(Matrix& H) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Gaussian::WhitenInPlace(Eigen::Block<Matrix>& H) const { void Gaussian::WhitenInPlace(Eigen::Block<Matrix> H) const {
H = thisR() * H; H = thisR() * H;
} }
@ -238,7 +238,7 @@ void Diagonal::WhitenInPlace(Matrix& H) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Diagonal::WhitenInPlace(Eigen::Block<Matrix>& H) const { void Diagonal::WhitenInPlace(Eigen::Block<Matrix> H) const {
H = invsigmas().asDiagonal() * H; H = invsigmas().asDiagonal() * H;
} }
@ -315,7 +315,7 @@ void Constrained::WhitenInPlace(Matrix& H) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Constrained::WhitenInPlace(Eigen::Block<Matrix>& H) const { void Constrained::WhitenInPlace(Eigen::Block<Matrix> H) const {
// selective scaling // selective scaling
// Scale row i of H by sigmas[i], basically multiplying H with diag(sigmas) // Scale row i of H by sigmas[i], basically multiplying H with diag(sigmas)
// Set inf_mask flag is true so that if invsigmas[i] is inf, i.e. sigmas[i] = 0, // Set inf_mask flag is true so that if invsigmas[i] is inf, i.e. sigmas[i] = 0,
@ -466,7 +466,7 @@ void Isotropic::WhitenInPlace(Matrix& H) const {
} }
/* ************************************************************************* */ /* ************************************************************************* */
void Isotropic::WhitenInPlace(Eigen::Block<Matrix>& H) const { void Isotropic::WhitenInPlace(Eigen::Block<Matrix> H) const {
H *= invsigma_; H *= invsigma_;
} }

12
gtsam/linear/NoiseModel.h
View File

@ -199,7 +199,7 @@ namespace gtsam {
/** /**
* In-place version * In-place version
*/ */
virtual void WhitenInPlace(Eigen::Block<Matrix>& H) const; virtual void WhitenInPlace(Eigen::Block<Matrix> H) const;
/** /**
* Whiten a system, in place as well * Whiten a system, in place as well
@ -297,7 +297,7 @@ namespace gtsam {
virtual Vector unwhiten(const Vector& v) const; virtual Vector unwhiten(const Vector& v) const;
virtual Matrix Whiten(const Matrix& H) const; virtual Matrix Whiten(const Matrix& H) const;
virtual void WhitenInPlace(Matrix& H) const; virtual void WhitenInPlace(Matrix& H) const;
virtual void WhitenInPlace(Eigen::Block<Matrix>& H) const; virtual void WhitenInPlace(Eigen::Block<Matrix> H) const;
/** /**
* Return standard deviations (sqrt of diagonal) * Return standard deviations (sqrt of diagonal)
@ -447,7 +447,7 @@ namespace gtsam {
/// with a non-zero sigma. Other rows remain untouched. /// with a non-zero sigma. Other rows remain untouched.
virtual Matrix Whiten(const Matrix& H) const; virtual Matrix Whiten(const Matrix& H) const;
virtual void WhitenInPlace(Matrix& H) const; virtual void WhitenInPlace(Matrix& H) const;
virtual void WhitenInPlace(Eigen::Block<Matrix>& H) const; virtual void WhitenInPlace(Eigen::Block<Matrix> H) const;
/** /**
* Apply QR factorization to the system [A b], taking into account constraints * Apply QR factorization to the system [A b], taking into account constraints
@ -527,7 +527,7 @@ namespace gtsam {
virtual Vector unwhiten(const Vector& v) const; virtual Vector unwhiten(const Vector& v) const;
virtual Matrix Whiten(const Matrix& H) const; virtual Matrix Whiten(const Matrix& H) const;
virtual void WhitenInPlace(Matrix& H) const; virtual void WhitenInPlace(Matrix& H) const;
virtual void WhitenInPlace(Eigen::Block<Matrix>& H) const; virtual void WhitenInPlace(Eigen::Block<Matrix> H) const;
/** /**
* Return standard deviation * Return standard deviation
@ -575,7 +575,7 @@ namespace gtsam {
virtual Vector unwhiten(const Vector& v) const { return v; } virtual Vector unwhiten(const Vector& v) const { return v; }
virtual Matrix Whiten(const Matrix& H) const { return H; } virtual Matrix Whiten(const Matrix& H) const { return H; }
virtual void WhitenInPlace(Matrix& H) const {} virtual void WhitenInPlace(Matrix& H) const {}
virtual void WhitenInPlace(Eigen::Block<Matrix>& H) const {} virtual void WhitenInPlace(Eigen::Block<Matrix> H) const {}
private: private:
/** Serialization function */ /** Serialization function */
@ -710,7 +710,7 @@ namespace gtsam {
}; };
/// Cauchy implements the "Cauchy" robust error model (Lee2013IROS). Contributed by: /// Cauchy implements the "Cauchy" robust error model (Lee2013IROS). Contributed by:
/// Dipl.-Inform. Jan Oberländer (M.Sc.), FZI Research Center for /// Dipl.-Inform. Jan Oberl<EFBFBD>nder (M.Sc.), FZI Research Center for
/// Information Technology, Karlsruhe, Germany. /// Information Technology, Karlsruhe, Germany.
/// oberlaender@fzi.de /// oberlaender@fzi.de
/// Thanks Jan! /// Thanks Jan!