From 28f5ec1f02c396ae463677df2925052f520b933a Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 28 Sep 2020 18:08:29 +0200
Subject: [PATCH] hotfix: small bug in assertion
---
src/ceres_wrapper/solver_ceres.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/ceres_wrapper/solver_ceres.cpp b/src/ceres_wrapper/solver_ceres.cpp
index 28ef3943c..fa21c6bbf 100644
--- a/src/ceres_wrapper/solver_ceres.cpp
+++ b/src/ceres_wrapper/solver_ceres.cpp
@@ -558,7 +558,7 @@ const Eigen::SparseMatrixd SolverCeres::computeHessian() const
StateBlockPtr sb = fac_ptr->getStateBlockPtrVector()[i];
if (!sb->isFixed())
{
- assert(state_blocks_local_param_.count(sb) != 0 && "factor involving a state block not added");
+ assert(state_blocks_.count(sb) != 0 && "factor involving a state block not added");
assert((A.cols() >= sb->getLocalSize() + jacobians[i].cols() - 1) && "bad A number of cols");
// insert since A_block_row has just been created so it's empty for sure
--
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