From fd376a5247e79c52d87b2b6da584aab843887b4d Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sat, 1 Mar 2014 18:10:21 -0500
Subject: [PATCH] Avoid millions of mallocs when using Unit noise model

---
 gtsam/linear/NoiseModel.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/gtsam/linear/NoiseModel.h b/gtsam/linear/NoiseModel.h
index 04c26336f..a87f426fa 100644
--- a/gtsam/linear/NoiseModel.h
+++ b/gtsam/linear/NoiseModel.h
@@ -585,6 +585,10 @@ namespace gtsam {
       virtual Matrix Whiten(const Matrix& H) const { return H; }
       virtual void WhitenInPlace(Matrix& H) const {}
       virtual void WhitenInPlace(Eigen::Block<Matrix> H) const {}
+      virtual void whitenInPlace(Vector& v) const {}
+      virtual void unwhitenInPlace(Vector& v) const {}
+      virtual void whitenInPlace(Eigen::Block<Vector>& v) const {}
+      virtual void unwhitenInPlace(Eigen::Block<Vector>& v) const {}
 
     private:
       /** Serialization function */