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Fix argument to const &

release/4.3a0
Frank Dellaert 2023-01-03 15:14:41 -05:00
parent 18f4d8b24c
commit 549e0b1e64
2 changed files with 5 additions and 4 deletions
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7
gtsam/linear/NoiseModel.cpp
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@ -47,8 +47,9 @@ void updateAb(MATRIX& Ab, int j, const Vector& a, const Vector& rd) {
/* ************************************************************************* */ /* ************************************************************************* */
// check *above the diagonal* for non-zero entries // check *above the diagonal* for non-zero entries
boost::optional<Vector> checkIfDiagonal(const Matrix M) { boost::optional<Vector> checkIfDiagonal(const Matrix& M) {
size_t m = M.rows(), n = M.cols(); size_t m = M.rows(), n = M.cols();
assert(m > 0);
// check all non-diagonal entries // check all non-diagonal entries
bool full = false; bool full = false;
size_t i, j; size_t i, j;
@ -92,7 +93,7 @@ Gaussian::shared_ptr Gaussian::SqrtInformation(const Matrix& R, bool smart) {
return Diagonal::Sigmas(diagonal->array().inverse(), true); return Diagonal::Sigmas(diagonal->array().inverse(), true);
} }
// NOTE(frank): only reaches here if !(smart && diagonal) // NOTE(frank): only reaches here if !(smart && diagonal)
return shared_ptr(new Gaussian(R.rows(), R)); return boost::make_shared<Gaussian>(R.rows(), R);
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -108,7 +109,7 @@ Gaussian::shared_ptr Gaussian::Information(const Matrix& information, bool smart
else { else {
Eigen::LLT<Matrix> llt(information); Eigen::LLT<Matrix> llt(information);
Matrix R = llt.matrixU(); Matrix R = llt.matrixU();
return shared_ptr(new Gaussian(n, R)); return boost::make_shared<Gaussian>(n, R);
} }
} }

2
gtsam/linear/NoiseModel.h
View File

@ -732,7 +732,7 @@ namespace gtsam {
}; };
// Helper function // Helper function
GTSAM_EXPORT boost::optional<Vector> checkIfDiagonal(const Matrix M); GTSAM_EXPORT boost::optional<Vector> checkIfDiagonal(const Matrix& M);
} // namespace noiseModel } // namespace noiseModel