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Add .finished() that was missed somehow.

release/4.3a0
cbeall3 2014-11-23 19:04:20 -05:00
parent 5246ce32d3
commit a7dd61ebbc
1 changed files with 2 additions and 2 deletions
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4
gtsam/geometry/Point3.h
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@ -166,11 +166,11 @@ namespace gtsam {
boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const { boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
double d = (p2 - *this).norm(); double d = (p2 - *this).norm();
if (H1) { if (H1) {
*H1 = (Matrix(1, 3) << x_-p2.x(), y_-p2.y(), z_-p2.z())*(1./d); *H1 = (Matrix(1, 3) << x_-p2.x(), y_-p2.y(), z_-p2.z()).finished()*(1./d);
} }
if (H2) { if (H2) {
*H2 = (Matrix(1, 3) << -x_+p2.x(), -y_+p2.y(), -z_+p2.z())*(1./d); *H2 = (Matrix(1, 3) << -x_+p2.x(), -y_+p2.y(), -z_+p2.z()).finished()*(1./d);
} }
return d; return d;
} }