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Small fix in printing debug info

release/4.3a0
Richard Roberts 2012-01-18 20:42:53 +00:00
parent b031996bbc
commit 8bf0b3c04c
1 changed files with 2 additions and 2 deletions
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4
gtsam/linear/GaussianFactorGraph.cpp
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@ -433,11 +433,11 @@ namespace gtsam {
"convertToJacobians: factor is neither a JacobianFactor nor a HessianFactor."); "convertToJacobians: factor is neither a JacobianFactor nor a HessianFactor.");
J::shared_ptr converted(new J(*hessian)); J::shared_ptr converted(new J(*hessian));
if (debug) { if (debug) {
if (!assert_equal(*hessian, HessianFactor(*converted), 1e-3)) throw runtime_error(
"convertToJacobians: Conversion between Jacobian and Hessian incorrect");
cout << "Converted HessianFactor to JacobianFactor:\n"; cout << "Converted HessianFactor to JacobianFactor:\n";
hessian->print("HessianFactor: "); hessian->print("HessianFactor: ");
converted->print("JacobianFactor: "); converted->print("JacobianFactor: ");
if (!assert_equal(*hessian, HessianFactor(*converted), 1e-3)) throw runtime_error(
"convertToJacobians: Conversion between Jacobian and Hessian incorrect");
} }
jacobians.push_back(converted); jacobians.push_back(converted);
} }