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Removed unneeded TODO's

release/4.3a0
Richard Roberts 2012-01-18 21:22:05 +00:00
parent 4b95a2799b
commit ffd01c7a7d
1 changed files with 0 additions and 2 deletions
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gtsam/linear/JacobianFactor.cpp
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@ -152,9 +152,7 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
JacobianFactor::JacobianFactor(const GaussianConditional& cg) : GaussianFactor(cg), model_(noiseModel::Diagonal::Sigmas(cg.get_sigmas(), true)), Ab_(matrix_) { JacobianFactor::JacobianFactor(const GaussianConditional& cg) : GaussianFactor(cg), model_(noiseModel::Diagonal::Sigmas(cg.get_sigmas(), true)), Ab_(matrix_) {
Ab_.assignNoalias(cg.rsd_); Ab_.assignNoalias(cg.rsd_);
// TODO: permutation for all frontal blocks
Ab_.range(0,cg.nrFrontals()) = Ab_.range(0,cg.nrFrontals()) * cg.permutation_.transpose(); Ab_.range(0,cg.nrFrontals()) = Ab_.range(0,cg.nrFrontals()) * cg.permutation_.transpose();
// todo SL: make firstNonzeroCols triangular?
firstNonzeroBlocks_.resize(cg.get_d().size(), 0); // set sigmas from precisions firstNonzeroBlocks_.resize(cg.get_d().size(), 0); // set sigmas from precisions
assertInvariants(); assertInvariants();
} }