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_; } } -- GitLab