From 5adcd6b6964d0bdeb4de3329446d76f4d8184d31 Mon Sep 17 00:00:00 2001 From: Frank Date: Mon, 19 Oct 2015 14:44:10 -0700 Subject: [PATCH] get rid of nullptr --- gtsam/geometry/Unit3.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/gtsam/geometry/Unit3.cpp b/gtsam/geometry/Unit3.cpp index f53be3b40..da585ce5a 100644 --- a/gtsam/geometry/Unit3.cpp +++ b/gtsam/geometry/Unit3.cpp @@ -106,16 +106,16 @@ const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const { // Choose the direction of the first basis vector b1 in the tangent plane by crossing n with // the chosen axis. Matrix33 H_B1_n; - Point3 B1 = n.cross(axis, H ? &H_B1_n : nullptr); + Point3 B1 = n.cross(axis, H ? &H_B1_n : 0); // Normalize result to get a unit vector: b1 = B1 / |B1|. Matrix33 H_b1_B1; - Point3 b1 = B1.normalize(H ? &H_b1_B1 : nullptr); + Point3 b1 = B1.normalize(H ? &H_b1_B1 : 0); // Get the second basis vector b2, which is orthogonal to n and b1, by crossing them. // No need to normalize this, p and b1 are orthogonal unit vectors. Matrix33 H_b2_n, H_b2_b1; - Point3 b2 = n.cross(b1, H ? &H_b2_n : nullptr, H ? &H_b2_b1 : nullptr); + Point3 b2 = n.cross(b1, H ? &H_b2_n : 0, H ? &H_b2_b1 : 0); // Create the basis by stacking b1 and b2. B_.reset(Matrix32()); @@ -177,7 +177,7 @@ double Unit3::dot(const Unit3& q, OptionalJacobian<1,2> H_p, OptionalJacobian<1, // Compute the dot product of the Point3s. Matrix13 H_dot_pn, H_dot_qn; - double d = pn.dot(qn, H_p ? &H_dot_pn : nullptr, H_q ? &H_dot_qn : nullptr); + double d = pn.dot(qn, H_p ? &H_dot_pn : 0, H_q ? &H_dot_qn : 0); if (H_p) { (*H_p) << H_dot_pn * H_pn_p; @@ -209,7 +209,7 @@ Vector2 Unit3::errorVector(const Unit3& q, OptionalJacobian<2, 2> H_p, OptionalJ // 2D error here is projecting q into the tangent plane of this (p). Matrix62 H_B_p; - Matrix23 Bt = basis(H_p ? &H_B_p : nullptr).transpose(); + Matrix23 Bt = basis(H_p ? &H_B_p : 0).transpose(); Vector2 xi = Bt * qn.vector(); if (H_p) {