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Trivial change, but VS 2012 was choking on this in release mode.

release/4.3a0
cbeall3 2014-05-01 12:53:05 -04:00
parent 2b20d61221
commit d8121a25bb
1 changed files with 6 additions and 7 deletions
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13
gtsam/linear/HessianFactor.cpp
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@ -367,13 +367,12 @@ void HessianFactor::hessianDiagonal(double* d) const {
typedef Eigen::Map<DVector> DMap; typedef Eigen::Map<DVector> DMap;
// Loop over all variables in the factor // Loop over all variables in the factor
for (DenseIndex pos = 0; pos < (DenseIndex)size(); ++pos) { for (DenseIndex pos = 0; pos < (DenseIndex)size(); ++pos) {
Key j = keys_[pos]; Key j = keys_[pos];
// Get the diagonal block, and insert its diagonal // Get the diagonal block, and insert its diagonal
Matrix B = info_(pos, pos).selfadjointView(); const Matrix& B = info_(pos, pos).selfadjointView();
DVector dj = B.diagonal(); DMap(d + 9 * j) += B.diagonal();
DMap(d + 9 * j) += dj; }
}
} }
/* ************************************************************************* */ /* ************************************************************************* */