From c2feb239fb0cf23b9146c7fe00701d3a1595f206 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sun, 22 Feb 2015 21:50:58 +0100
Subject: [PATCH] whitenInPlace

---
 gtsam/linear/NoiseModel.cpp | 5 +++++
 gtsam/linear/NoiseModel.h   | 1 +
 2 files changed, 6 insertions(+)

diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index 2031a4b73..6ab26474a 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -514,6 +514,11 @@ void Isotropic::WhitenInPlace(Matrix& H) const {
   H *= invsigma_;
 }
 
+/* ************************************************************************* */
+void Isotropic::whitenInPlace(Vector& v) const {
+  v *= invsigma_;
+}
+
 /* ************************************************************************* */
 void Isotropic::WhitenInPlace(Eigen::Block<Matrix> H) const {
   H *= invsigma_;
diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 098af8b6d..94012c7c2 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -545,6 +545,7 @@ namespace gtsam {
       virtual Vector unwhiten(const Vector& v) const;
       virtual Matrix Whiten(const Matrix& H) const;
       virtual void WhitenInPlace(Matrix& H) const;
+      virtual void whitenInPlace(Vector& v) const;
       virtual void WhitenInPlace(Eigen::Block<Matrix> H) const;
 
       /**