From 8f66de292e4d3cc4c50a9cf6297f5756f4ef6010 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Thu, 16 Jan 2020 11:48:45 +0100
Subject: [PATCH] eigen map to avoid useless copies
---
include/core/factor/factor_pose_3D.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/core/factor/factor_pose_3D.h b/include/core/factor/factor_pose_3D.h
index 5b750c917..50045c32d 100644
--- a/include/core/factor/factor_pose_3D.h
+++ b/include/core/factor/factor_pose_3D.h
@@ -34,8 +34,8 @@ inline bool FactorPose3D::operator ()(const T* const _p, const T* const _o, T* _
{
// states
- Eigen::Matrix<T, 3, 1> p(_p);
- Eigen::Quaternion<T> q(_o);
+ Eigen::Map<const Eigen::Matrix<T, 3, 1>> p(_p);
+ Eigen::Map<const Eigen::Quaternion<T>> q(_o);
// measurements
Eigen::Vector3d p_measured(getMeasurement().data() + 0);
--
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