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fixed broken covariance

release/4.3a0
Frank Dellaert 2015-07-11 14:16:17 -07:00
parent 5b4daf7527
commit 64b26288f5
1 changed files with 1 additions and 1 deletions
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gtsam/linear/NoiseModel.h
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@ -242,7 +242,7 @@ namespace gtsam {
virtual Matrix R() const { return thisR();}
/// Compute information matrix
virtual Matrix information() const { return thisR().transpose() * thisR(); }
virtual Matrix information() const { return R().transpose() * R(); }
/// Compute covariance matrix
virtual Matrix covariance() const { return information().inverse(); }