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fixed warning

release/4.3a0
Frank Dellaert 2013-10-30 12:08:58 +00:00
parent 73b82a00eb
commit d5271dfff7
1 changed files with 4 additions and 7 deletions
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7
gtsam/linear/NoiseModel.cpp
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@ -121,7 +121,7 @@ SharedDiagonal Gaussian::QR(Matrix& Ab) const {
// get size(A) and maxRank // get size(A) and maxRank
// TODO: really no rank problems ? // TODO: really no rank problems ?
size_t m = Ab.rows(), n = Ab.cols()-1; // size_t m = Ab.rows(), n = Ab.cols()-1;
// size_t maxRank = min(m,n); // size_t maxRank = min(m,n);
// pre-whiten everything (cheaply if possible) // pre-whiten everything (cheaply if possible)
@ -270,10 +270,8 @@ Vector Constrained::whiten(const Vector& v) const {
// a hard constraint, we don't do anything. // a hard constraint, we don't do anything.
const Vector& a = v; const Vector& a = v;
const Vector& b = sigmas_; const Vector& b = sigmas_;
DenseIndex n = a.size(); // Now allows for whiten augmented vector with a new additional part coming
// Now allow for whiten augmented vector with a new additional part coming
// from the Lagrange multiplier. So a.size() >= b.size() // from the Lagrange multiplier. So a.size() >= b.size()
// assert (b.size()==a.size());
Vector c = a; Vector c = a;
for( DenseIndex i = 0; i < b.size(); i++ ) { for( DenseIndex i = 0; i < b.size(); i++ ) {
const double& ai = a(i), &bi = b(i); const double& ai = a(i), &bi = b(i);
@ -782,7 +780,6 @@ Robust::shared_ptr Robust::Create(
return shared_ptr(new Robust(robust,noise)); return shared_ptr(new Robust(robust,noise));
} }
/* ************************************************************************* */ /* ************************************************************************* */
} }