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fix typename

release/4.3a0
chrisbeall 2016-10-14 16:30:03 -07:00
parent 81820bde52
commit b0c57d34db
1 changed files with 1 additions and 1 deletions
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gtsam/slam/BetweenFactor.h
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@ -92,7 +92,7 @@ namespace gtsam {
T hx = traits<T>::Between(p1, p2, H1, H2); // h(x) T hx = traits<T>::Between(p1, p2, H1, H2); // h(x)
// manifold equivalent of h(x)-z -> log(z,h(x)) // manifold equivalent of h(x)-z -> log(z,h(x))
#ifdef SLOW_BUT_CORRECT_BETWEENFACTOR #ifdef SLOW_BUT_CORRECT_BETWEENFACTOR
typename traits<T>::ChartJacobian::Fixed Hlocal; typename traits<T>::ChartJacobian::Jacobian Hlocal;
Vector rval = traits<T>::Local(measured_, hx, boost::none, (H1 || H2) ? &Hlocal : 0); Vector rval = traits<T>::Local(measured_, hx, boost::none, (H1 || H2) ? &Hlocal : 0);
if (H1) *H1 = Hlocal * (*H1); if (H1) *H1 = Hlocal * (*H1);
if (H1) *H2 = Hlocal * (*H2); if (H1) *H2 = Hlocal * (*H2);