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