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Fix gradientAtZero

release/4.3a0
dellaert 2015-03-05 15:48:55 -08:00
parent befdfd1f09
commit 36be55e92c
1 changed files with 1 additions and 1 deletions
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2
gtsam/slam/RegularImplicitSchurFactor.h
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@ -436,7 +436,7 @@ public:
VectorValues g; VectorValues g;
for (size_t k = 0; k < size(); ++k) { for (size_t k = 0; k < size(); ++k) {
Key key = keys_[k]; Key key = keys_[k];
g.insert(key, FBlocks_[k].transpose() * e2[k]); g.insert(key, - FBlocks_[k].transpose() * e2[k]);
} }
// return it // return it