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*it is already the right type

release/4.3a0
Frank Dellaert 2010-02-26 04:03:56 +00:00
parent 0a33b50554
commit 5e97d07f5e
1 changed files with 2 additions and 5 deletions
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7
cpp/GaussianFactor.cpp
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@ -74,11 +74,8 @@ GaussianFactor::GaussianFactor(const boost::shared_ptr<GaussianConditional>& cg)
b_(cg->get_d()) { b_(cg->get_d()) {
As_.insert(NamedMatrix(cg->key(), cg->get_R())); As_.insert(NamedMatrix(cg->key(), cg->get_R()));
SymbolMap<Matrix>::const_iterator it = cg->parentsBegin(); SymbolMap<Matrix>::const_iterator it = cg->parentsBegin();
for (; it != cg->parentsEnd(); it++) { for (; it != cg->parentsEnd(); it++)
const Symbol& j = it->first; As_.insert(*it);
const Matrix& Aj = it->second;
As_.insert(NamedMatrix(j, Aj));
}
// set sigmas from precisions // set sigmas from precisions
size_t n = b_.size(); size_t n = b_.size();
model_ = noiseModel::Diagonal::Sigmas(cg->get_sigmas()); model_ = noiseModel::Diagonal::Sigmas(cg->get_sigmas());