From 5e97d07f5ebab5b5414d8f6adb0f2e63282b7076 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Fri, 26 Feb 2010 04:03:56 +0000
Subject: [PATCH] *it is already the right type

---
 cpp/GaussianFactor.cpp | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/cpp/GaussianFactor.cpp b/cpp/GaussianFactor.cpp
index 98e861849..0b6291b42 100644
--- a/cpp/GaussianFactor.cpp
+++ b/cpp/GaussianFactor.cpp
@@ -74,11 +74,8 @@ GaussianFactor::GaussianFactor(const boost::shared_ptr<GaussianConditional>& cg)
 	b_(cg->get_d()) {
 	As_.insert(NamedMatrix(cg->key(), cg->get_R()));
 	SymbolMap<Matrix>::const_iterator it = cg->parentsBegin();
-	for (; it != cg->parentsEnd(); it++) {
-		const Symbol& j = it->first;
-		const Matrix& Aj = it->second;
-		As_.insert(NamedMatrix(j, Aj));
-	}
+	for (; it != cg->parentsEnd(); it++)
+		As_.insert(*it);
 	// set sigmas from precisions
 	size_t n = b_.size();
 	model_ = noiseModel::Diagonal::Sigmas(cg->get_sigmas());