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Equals

release/4.3a0
dellaert 2015-02-21 16:39:39 +01:00
parent 5120e4b77a
commit c3c5c0d80c
1 changed files with 15 additions and 4 deletions
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19
gtsam/slam/RegularImplicitSchurFactor.h
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@ -96,11 +96,17 @@ public:
/// equals
bool equals(const GaussianFactor& lf, double tol) const {
if (!dynamic_cast<const RegularImplicitSchurFactor*>(&lf))
return false;
else {
const This* f = dynamic_cast<const This*>(&lf);
if (!f)
return false;
for (size_t pos = 0; pos < size(); ++pos) {
if (keys_[pos] != f->keys_[pos]) return false;
if (Fblocks_[pos].first != f->Fblocks_[pos].first) return false;
if (!equal_with_abs_tol(Fblocks_[pos].second,f->Fblocks_[pos].second,tol)) return false;
}
return equal_with_abs_tol(PointCovariance_, f->PointCovariance_, tol)
&& equal_with_abs_tol(E_, f->E_, tol)
&& equal_with_abs_tol(b_, f->b_, tol);
}
/// Degrees of freedom of camera
@ -460,7 +466,12 @@ public:
};
// RegularImplicitSchurFactor
// end class RegularImplicitSchurFactor
// traits
template<size_t D> struct traits<RegularImplicitSchurFactor<D> > : public Testable<
RegularImplicitSchurFactor<D> > {
};
}