From b73f03646d4c682399ad6304b03ffa6645858088 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Fri, 15 May 2020 09:22:04 +0200
Subject: [PATCH] Fix potential uninitialized matrix elements (Fixes #306)

---
 gtsam/base/SymmetricBlockMatrix.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/base/SymmetricBlockMatrix.h b/gtsam/base/SymmetricBlockMatrix.h
index 53a8912f6..1ec9a5ad3 100644
--- a/gtsam/base/SymmetricBlockMatrix.h
+++ b/gtsam/base/SymmetricBlockMatrix.h
@@ -76,7 +76,7 @@ namespace gtsam {
       blockStart_(0)
     {
       fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
-      matrix_.resize(variableColOffsets_.back(), variableColOffsets_.back());
+      matrix_.setZero(variableColOffsets_.back(), variableColOffsets_.back());
       assertInvariants();
     }
 
@@ -86,7 +86,7 @@ namespace gtsam {
       blockStart_(0)
     {
       fillOffsets(firstBlockDim, lastBlockDim, appendOneDimension);
-      matrix_.resize(variableColOffsets_.back(), variableColOffsets_.back());
+      matrix_.setZero(variableColOffsets_.back(), variableColOffsets_.back());
       assertInvariants();
     }
 
@@ -95,7 +95,7 @@ namespace gtsam {
     SymmetricBlockMatrix(const CONTAINER& dimensions, const Matrix& matrix, bool appendOneDimension = false) :
       blockStart_(0)
     {
-      matrix_.resize(matrix.rows(), matrix.cols());
+      matrix_.setZero(matrix.rows(), matrix.cols());
       matrix_.triangularView<Eigen::Upper>() = matrix.triangularView<Eigen::Upper>();
       fillOffsets(dimensions.begin(), dimensions.end(), appendOneDimension);
       if(matrix_.rows() != matrix_.cols())