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Fixed warning

release/4.3a0
Frank 2016-02-17 12:36:57 -08:00
parent 52fff13b6f
commit a10f462fef
1 changed files with 8 additions and 8 deletions
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16
gtsam/linear/NoiseModel.cpp
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@ -1,6 +1,6 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
@ -82,13 +82,13 @@ Gaussian::shared_ptr Gaussian::SqrtInformation(const Matrix& R, bool smart) {
size_t m = R.rows(), n = R.cols();
if (m != n)
throw invalid_argument("Gaussian::SqrtInformation: R not square");
boost::optional<Vector> diagonal = boost::none;
if (smart)
diagonal = checkIfDiagonal(R);
if (diagonal)
return Diagonal::Sigmas(diagonal->array().inverse(), true);
else
return shared_ptr(new Gaussian(R.rows(), R));
if (smart) {
boost::optional<Vector> diagonal = checkIfDiagonal(R);
if (diagonal)
return Diagonal::Sigmas(diagonal->array().inverse(), true);
}
// NOTE(frank): only reaches here if !smart && !diagonal
return shared_ptr(new Gaussian(R.rows(), R));
}
/* ************************************************************************* */