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Merged in fix/expressionfactor-with-robust-noise (pull request #130) 

Fixed bug in ExpressionFactor::linearize() when using robust noise models
release/4.3a0
Frank Dellaert 2015-03-09 16:06:37 -07:00
parent ab914e1cae 8692c74765
commit 8b63e2231d
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); Ab(size()).col(0) = -traits<T>::Local(measurement_, value);
// Whiten the corresponding system, Ab already contains RHS // Whiten the corresponding system, Ab already contains RHS
Vector dummy(Dim); Vector b = Ab(size()).col(0); // need b to be valid for Robust noise models
noiseModel_->WhitenSystem(Ab.matrix(), dummy); noiseModel_->WhitenSystem(Ab.matrix(), b);
return factor; return factor;
} }