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Fixed check for zero-row jacobians in Scatter

release/4.3a0
Richard Roberts 2013-08-09 21:52:24 +00:00
parent 789f2bee97
commit a056ba2095
1 changed files with 4 additions and 1 deletions
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5
gtsam/linear/HessianFactor.cpp
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@ -70,7 +70,10 @@ Scatter::Scatter(const GaussianFactorGraph& gfg, boost::optional<const Ordering&
BOOST_FOREACH(const GaussianFactor::shared_ptr& factor, gfg) {
if(factor) {
for(GaussianFactor::const_iterator variable = factor->begin(); variable != factor->end(); ++variable) {
this->insert(make_pair(*variable, SlotEntry(none, factor->getDim(variable))));
// TODO: Fix this hack to cope with zero-row Jacobians that come from BayesTreeOrphanWrappers
const JacobianFactor* asJacobian = dynamic_cast<const JacobianFactor*>(factor.get());
if(!asJacobian || asJacobian->rows() > 0)
this->insert(make_pair(*variable, SlotEntry(none, factor->getDim(variable))));
}
}
}