Trivial change, but VS 2012 was choking on this in release mode.
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2b20d61221
commit
d8121a25bb
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@ -367,13 +367,12 @@ void HessianFactor::hessianDiagonal(double* d) const {
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typedef Eigen::Map<DVector> DMap;
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// Loop over all variables in the factor
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for (DenseIndex pos = 0; pos < (DenseIndex)size(); ++pos) {
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Key j = keys_[pos];
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// Get the diagonal block, and insert its diagonal
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Matrix B = info_(pos, pos).selfadjointView();
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DVector dj = B.diagonal();
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DMap(d + 9 * j) += dj;
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}
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for (DenseIndex pos = 0; pos < (DenseIndex)size(); ++pos) {
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Key j = keys_[pos];
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// Get the diagonal block, and insert its diagonal
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const Matrix& B = info_(pos, pos).selfadjointView();
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DMap(d + 9 * j) += B.diagonal();
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}
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}
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/* ************************************************************************* */
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