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Fixed a bug in the expm function that assumed a fixed matrix size

release/4.3a0
Alex Cunningham 2011-02-04 03:32:39 +00:00
parent 78b0fa054c
commit 752e812895
1 changed files with 1 additions and 1 deletions
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2
gtsam/base/Matrix.cpp
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@ -996,7 +996,7 @@ Matrix inverse_square_root(const Matrix& A) {
/* ************************************************************************* */
Matrix expm(const Matrix& A, size_t K) {
Matrix E = eye(A.size1()), A_k = eye(4);
Matrix E = eye(A.size1()), A_k = eye(A.size1());
for(size_t k=1;k<=K;k++) {
A_k = A_k*A/k;
E = E + A_k;