From 6b14e652ffea93cf3f49b5a15cd7207e9685613e Mon Sep 17 00:00:00 2001
From: Alex Cunningham <alexgcunningham@gmail.com>
Date: Mon, 27 Aug 2012 01:40:11 +0000
Subject: [PATCH] Fixed bug in equality check

---
 gtsam_unstable/nonlinear/LinearContainerFactor.cpp          | 6 ++++--
 .../nonlinear/tests/testLinearContainerFactor.cpp           | 6 ++++++
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp
index 048f4a0c4..fa44d3e93 100644
--- a/gtsam_unstable/nonlinear/LinearContainerFactor.cpp
+++ b/gtsam_unstable/nonlinear/LinearContainerFactor.cpp
@@ -117,11 +117,13 @@ void LinearContainerFactor::print(const std::string& s, const KeyFormatter& keyF
 /* ************************************************************************* */
 bool LinearContainerFactor::equals(const NonlinearFactor& f, double tol) const {
 	const LinearContainerFactor* jcf = dynamic_cast<const LinearContainerFactor*>(&f);
-	if (!jcf || factor_->equals(*jcf->factor_, tol) || NonlinearFactor::equals(f))
+	if (!jcf || !factor_->equals(*jcf->factor_, tol) || !NonlinearFactor::equals(f))
 		return false;
 	if (!linearizationPoint_ && !jcf->linearizationPoint_)
 		return true;
-	return jcf->linearizationPoint_ && linearizationPoint_->equals(*jcf->linearizationPoint_, tol);
+	if (linearizationPoint_ && jcf->linearizationPoint_)
+		return linearizationPoint_->equals(*jcf->linearizationPoint_, tol);
+	return false;
 }
 
 /* ************************************************************************* */
diff --git a/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp
index 1bce66ce3..51f2f73a2 100644
--- a/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp
+++ b/gtsam_unstable/nonlinear/tests/testLinearContainerFactor.cpp
@@ -9,6 +9,7 @@
 
 #include <gtsam_unstable/nonlinear/LinearContainerFactor.h>
 
+#include <gtsam/base/TestableAssertions.h>
 #include <gtsam/geometry/Pose2.h>
 
 using namespace gtsam;
@@ -95,6 +96,11 @@ TEST( testLinearContainerFactor, jacobian_factor_withlinpoints ) {
 	values.insert(x2, poseA2);
 
 	LinearContainerFactor actFactor(expLinFactor, ordering, values);
+	LinearContainerFactor actFactorNolin(expLinFactor, ordering);
+
+	EXPECT(assert_equal(actFactor, actFactor, tol));
+	EXPECT(assert_inequal(actFactor, actFactorNolin, tol));
+	EXPECT(assert_inequal(actFactorNolin, actFactor, tol));
 
 	// Check contents
 	Values expLinPoint;