From 8bd4738f47a4a5f81b694f4985183f59ec069e0e Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Tue, 29 Oct 2024 08:05:27 +0100
Subject: [PATCH] =?UTF-8?q?Fix=20warning:=20=E2=80=98beta=E2=80=99=20may?=
 =?UTF-8?q?=20be=20used=20uninitialized=20in=20this=20function?=
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---
 gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
index e3d90a591..a36fa09ed 100644
--- a/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
+++ b/gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h
@@ -21,6 +21,8 @@
 #include <gtsam/base/Manifold.h>
 #include <gtsam/nonlinear/NonlinearOptimizer.h>
 
+#include <stdexcept>
+
 namespace gtsam {
 
 /// Fletcher-Reeves formula for computing β, the direction of steepest descent.
@@ -247,6 +249,9 @@ std::tuple<V, int> nonlinearConjugateGradient(
         case DirectionMethod::DaiYuan:
           beta = DaiYuan(currentGradient, prevGradient, direction);
           break;
+        default:
+          throw std::runtime_error(
+              "NonlinearConjugateGradientOptimizer: Invalid directionMethod");
       }
 
       direction = currentGradient + (beta * direction);