From ff1c27ba62fa749d63bff7d20fef2f45beffd310 Mon Sep 17 00:00:00 2001 From: dellaert Date: Mon, 1 Feb 2016 16:47:13 -0800 Subject: [PATCH] Got rid of spurious malloc (hard to find! Vector should have been Vector3) --- gtsam/navigation/PreintegrationBase.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp index f2a8d41fd..c3f203849 100644 --- a/gtsam/navigation/PreintegrationBase.cpp +++ b/gtsam/navigation/PreintegrationBase.cpp @@ -130,7 +130,7 @@ Vector9 PreintegrationBase::UpdatePreintegrated( // Calculate exact mean propagation Matrix3 w_tangent_H_theta, invH; - const Vector w_tangent = // angular velocity mapped back to tangent space + const Vector3 w_tangent = // angular velocity mapped back to tangent space local.applyInvDexp(w_body, A ? &w_tangent_H_theta : 0, C ? &invH : 0); const SO3 R = local.expmap(); const Vector3 a_nav = R * a_body;