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Got rid of spurious malloc (hard to find! Vector should have been Vector3)

release/4.3a0
dellaert 2016-02-01 16:47:13 -08:00
parent adcf60f559
commit ff1c27ba62
1 changed files with 1 additions and 1 deletions
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gtsam/navigation/PreintegrationBase.cpp
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@ -130,7 +130,7 @@ Vector9 PreintegrationBase::UpdatePreintegrated(
// Calculate exact mean propagation // Calculate exact mean propagation
Matrix3 w_tangent_H_theta, invH; 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); local.applyInvDexp(w_body, A ? &w_tangent_H_theta : 0, C ? &invH : 0);
const SO3 R = local.expmap(); const SO3 R = local.expmap();
const Vector3 a_nav = R * a_body; const Vector3 a_nav = R * a_body;