From 8d00651a6c6acffc05d032b3eef710f3042516fc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?M=C3=A9d=C3=A9ric=20Fourmy?= <mfourmy@laas.fr>
Date: Mon, 30 Mar 2020 14:47:43 +0200
Subject: [PATCH] Conform to _compute_jacobian in factor block difference

---
 include/core/factor/factor_block_difference.h | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/include/core/factor/factor_block_difference.h b/include/core/factor/factor_block_difference.h
index 5dd1086aa..d3558ef21 100644
--- a/include/core/factor/factor_block_difference.h
+++ b/include/core/factor/factor_block_difference.h
@@ -153,11 +153,11 @@ inline void FactorBlockDifference::evaluateJacobians(const std::vector<Eigen::Ma
     assert(getMeasurementSquareRootInformationUpper().cols() == J_res_sb1_.rows() && "Wrong jacobian sb1 or covariance size");
     assert(getMeasurementSquareRootInformationUpper().cols() == J_res_sb2_.rows() && "Wrong jacobian sb2 or covariance size");
 
-    // normalized jacobian
-    if (_jacobians[0].size() > 0){
+    // normalized jacobian, computed according to the _compute_jacobian flag
+    if (_compute_jacobian[0]){
         _jacobians[0] = getMeasurementSquareRootInformationUpper() * J_res_sb1_;
     }
-    if (_jacobians[1].size() > 0){
+    if (_compute_jacobian[1]){
         _jacobians[1] = getMeasurementSquareRootInformationUpper() * J_res_sb2_;
     }
 }
@@ -176,11 +176,11 @@ inline void FactorBlockDifference::evaluateJacobians(const std::vector<Eigen::Ma
     assert(getMeasurementSquareRootInformationUpper().cols() == J_res_sb1_.rows() && "Wrong jacobian sb1 or covariance size");
     assert(getMeasurementSquareRootInformationUpper().cols() == J_res_sb2_.rows() && "Wrong jacobian sb2 or covariance size");
 
-    // normalized jacobian
-    if (_jacobians[0].size() > 0){
+    // normalized jacobian, computed according to the _compute_jacobian flag
+    if (_compute_jacobian[0]){
         _jacobians[0] = getMeasurementSquareRootInformationUpper() * J_res_sb1_;
     }
-    if (_jacobians[1].size() > 0){
+    if (_compute_jacobian[1]){
         _jacobians[1] = getMeasurementSquareRootInformationUpper() * J_res_sb2_;
     }
 }
-- 
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