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Fix when comparing NonlinearFactor with NULL noise model

release/4.3a0
Richard Roberts 2013-11-12 17:03:08 +00:00
parent efc5ea8dce
commit 314c44b0ad
1 changed files with 3 additions and 1 deletions
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4
gtsam/nonlinear/NonlinearFactor.h
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@ -238,7 +238,9 @@ public:
/** Check if two factors are equal */ /** Check if two factors are equal */
virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const { virtual bool equals(const NonlinearFactor& f, double tol = 1e-9) const {
const NoiseModelFactor* e = dynamic_cast<const NoiseModelFactor*>(&f); const NoiseModelFactor* e = dynamic_cast<const NoiseModelFactor*>(&f);
return e && Base::equals(f, tol) && noiseModel_->equals(*e->noiseModel_, tol); return e && Base::equals(f, tol) &&
((!noiseModel_ && !e->noiseModel_) ||
(noiseModel_ && e->noiseModel_ && noiseModel_->equals(*e->noiseModel_, tol)));
} }
/** get the dimension of the factor (number of rows on linearization) */ /** get the dimension of the factor (number of rows on linearization) */