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Fixed bug in ExpressionFactor::linearize() when using robust noise models

release/4.3a0
Mike Bosse 2015-03-09 22:54:21 +01:00
parent ab914e1cae
commit 8692c74765
1 changed files with 2 additions and 2 deletions
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4
gtsam/nonlinear/ExpressionFactor.h
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@ -101,8 +101,8 @@ public:
Ab(size()).col(0) = -traits<T>::Local(measurement_, value);
// Whiten the corresponding system, Ab already contains RHS
Vector dummy(Dim);
noiseModel_->WhitenSystem(Ab.matrix(), dummy);
Vector b = Ab(size()).col(0); // need b to be valid for Robust noise models
noiseModel_->WhitenSystem(Ab.matrix(), b);
return factor;
}