12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

*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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
cpp/GaussianFactor.cpp
View File

@ -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());