From 3cedd9329ac5026a3cbafcca2a4bfa0af4c38c91 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 6 Feb 2019 10:48:28 +0100
Subject: [PATCH] Cosmetics

---
 src/processor_motion.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp
index d9594cd75..7f18bcd06 100644
--- a/src/processor_motion.cpp
+++ b/src/processor_motion.cpp
@@ -408,11 +408,14 @@ void ProcessorMotion::integrateOneStep()
 
     // integrate Jacobian wrt calib
     if ( hasCalibration() )
-        jacobian_calib_ = jacobian_delta_preint_ * getBuffer().get().back().jacobian_calib_ + jacobian_delta_ * jacobian_delta_calib_;
+        jacobian_calib_.noalias()
+            = jacobian_delta_preint_ * getBuffer().get().back().jacobian_calib_
+            + jacobian_delta_ * jacobian_delta_calib_;
 
     // Integrate covariance
-    delta_integrated_cov_ = jacobian_delta_preint_ * getBuffer().get().back().delta_integr_cov_ * jacobian_delta_preint_.transpose()
-                          + jacobian_delta_        * delta_cov_                                 * jacobian_delta_.transpose();
+    delta_integrated_cov_.noalias()
+            = jacobian_delta_preint_ * getBuffer().get().back().delta_integr_cov_ * jacobian_delta_preint_.transpose()
+            + jacobian_delta_        * delta_cov_                                 * jacobian_delta_.transpose();
 
     // push all into buffer
     getBuffer().get().emplace_back(incoming_ptr_->getTimeStamp(),
-- 
GitLab