Fixed asserts
parent
d0c3bc0c8e
commit
593edd1e5c
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@ -81,9 +81,9 @@ template<int ROWS, int COLS>
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void handleLeafCase(const Eigen::Matrix<double, ROWS, COLS>& dTdA,
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JacobianMap& jacobians, Key key) {
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JacobianMap::iterator it = std::find_if(jacobians.begin(), jacobians.end(),
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boost::bind(&JacobianPair::first, _1)==key);
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assert(it~= jacobians.end());
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it->second.block<ROWS, COLS>(0, 0) += dTdA; // block makes HUGE difference
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boost::bind(&JacobianPair::first, _1) == key);
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assert(it!=jacobians.end());
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it->second.block < ROWS, COLS > (0, 0) += dTdA; // block makes HUGE difference
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}
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/// Handle Leaf Case for Dynamic Matrix type (slower)
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template<>
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@ -91,8 +91,8 @@ void handleLeafCase(
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const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>& dTdA,
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JacobianMap& jacobians, Key key) {
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JacobianMap::iterator it = std::find_if(jacobians.begin(), jacobians.end(),
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boost::bind(&JacobianPair::first, _1)==key);
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assert(it~= jacobians.end());
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boost::bind(&JacobianPair::first, _1) == key);
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assert(it!=jacobians.end());
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it->second += dTdA;
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}
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