From 2dc0dd5979165e4702e127233c853bd40e48ad06 Mon Sep 17 00:00:00 2001 From: kartik arcot Date: Sun, 8 Jan 2023 19:00:42 -0800 Subject: [PATCH] optional jacobian fix --- gtsam/base/OptionalJacobian.h | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/gtsam/base/OptionalJacobian.h b/gtsam/base/OptionalJacobian.h index c9a960a89..88718bb01 100644 --- a/gtsam/base/OptionalJacobian.h +++ b/gtsam/base/OptionalJacobian.h @@ -94,8 +94,10 @@ public: /// Constructor that will resize a dynamic matrix (unless already correct) OptionalJacobian(Eigen::MatrixXd* dynamic) : map_(nullptr) { - dynamic->resize(Rows, Cols); // no malloc if correct size - usurp(dynamic->data()); + if (dynamic) { + dynamic->resize(Rows, Cols); // no malloc if correct size + usurp(dynamic->data()); + } } /**