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removed assertion that apparently fails in a bunch of places

release/4.3a0
Alex Cunningham 2014-01-04 20:13:00 -05:00
parent dfb3e60171
commit b08e889222
1 changed files with 1 additions and 1 deletions
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gtsam/linear/NoiseModel.cpp
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@ -247,7 +247,7 @@ Constrained::Constrained(const Vector& sigmas)
/* ************************************************************************* */ /* ************************************************************************* */
Constrained::Constrained(const Vector& mu, const Vector& sigmas) Constrained::Constrained(const Vector& mu, const Vector& sigmas)
: Diagonal(sigmas), mu_(mu) { : Diagonal(sigmas), mu_(mu) {
assert(sigmas.size() == mu.size()); // assert(sigmas.size() == mu.size());
for (int i=0; i<sigmas.size(); ++i) { for (int i=0; i<sigmas.size(); ++i) {
if (!std::isfinite(1./sigmas(i))) { if (!std::isfinite(1./sigmas(i))) {
precisions_(i) = 0.0; // Set to finite value precisions_(i) = 0.0; // Set to finite value