From ec993497f322df8b8c3dbbbfeef80d59c397405c Mon Sep 17 00:00:00 2001
From: yetongumich <yetong@umich.edu>
Date: Sun, 12 Jul 2020 23:09:13 -0400
Subject: [PATCH] deprecate error in noisemodel, use loss instead; revise
 virtual with override

---
 gtsam/linear/JacobianFactor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index be9b17052..b8a08be9e 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -515,7 +515,7 @@ Vector JacobianFactor::error_vector(const VectorValues& c) const {
 double JacobianFactor::error(const VectorValues& c) const {
   Vector e = unweighted_error(c);
   // Use the noise model distance function to get the correct error if available.
-  if (model_) return model_->error(e);
+  if (model_) return 0.5 * model_->squaredMahalanobisDistance(e);
   return 0.5 * e.dot(e);
 }