From 185c572b5a03acf6ac3ee83d132356bae51fbdc0 Mon Sep 17 00:00:00 2001 From: Luca Date: Thu, 24 Apr 2014 11:28:41 -0400 Subject: [PATCH 1/2] removed wrong base class --- gtsam_unstable/slam/ImplicitSchurFactor.h | 1 - 1 file changed, 1 deletion(-) diff --git a/gtsam_unstable/slam/ImplicitSchurFactor.h b/gtsam_unstable/slam/ImplicitSchurFactor.h index 5c797fccd..c0f339b30 100644 --- a/gtsam_unstable/slam/ImplicitSchurFactor.h +++ b/gtsam_unstable/slam/ImplicitSchurFactor.h @@ -24,7 +24,6 @@ class ImplicitSchurFactor: public GaussianFactor { public: typedef ImplicitSchurFactor This; ///< Typedef to this class - typedef JacobianFactor Base; ///< Typedef to base class typedef boost::shared_ptr shared_ptr; ///< shared_ptr to this class protected: From f15f7f38932d7b170e1c54704d4d6634523eab52 Mon Sep 17 00:00:00 2001 From: Luca Date: Thu, 24 Apr 2014 12:02:11 -0400 Subject: [PATCH 2/2] Jacobian factors' gradientAtZero with raw memory access does nothing (to be fixed) --- gtsam/linear/JacobianFactor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp index bb9d5afc0..a63bbf473 100644 --- a/gtsam/linear/JacobianFactor.cpp +++ b/gtsam/linear/JacobianFactor.cpp @@ -575,7 +575,7 @@ VectorValues JacobianFactor::gradientAtZero() const { /* ************************************************************************* */ void JacobianFactor::gradientAtZero(double* d) const { - throw std::runtime_error("gradientAtZero not implemented for Jacobian factor"); + //throw std::runtime_error("gradientAtZero not implemented for Jacobian factor"); } /* ************************************************************************* */