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bizarre fix for issue 101

release/4.3a0
Chris Beall 2014-06-01 13:00:03 -04:00
parent c6de457a4b
commit c56b56a178
1 changed files with 5 additions and 2 deletions
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7
gtsam/navigation/MagFactor.h
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@ -54,8 +54,11 @@ public:
static Point3 unrotate(const Rot2& R, const Point3& p, static Point3 unrotate(const Rot2& R, const Point3& p,
boost::optional<Matrix&> HR = boost::none) { boost::optional<Matrix&> HR = boost::none) {
Point3 q = Rot3::yaw(R.theta()).unrotate(p, HR); Point3 q = Rot3::yaw(R.theta()).unrotate(p, HR);
if (HR) if (HR) {
*HR = HR->col(2); // assign to temporary first to avoid error in Win-Debug mode
Matrix H = HR->col(2);
*HR = H;
}
return q; return q;
} }