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Avoid millions of mallocs when using Unit noise model

release/4.3a0
dellaert 2014-03-01 18:10:21 -05:00
parent e4edaf359c
commit fd376a5247
1 changed files with 4 additions and 0 deletions
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4
gtsam/linear/NoiseModel.h
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@ -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 */