From a9fe9ce52c62f63a68edac9c939eb969eb635fee Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Mon, 25 Jun 2018 15:47:23 +0200
Subject: [PATCH] Macro WOLF_ASSERT_COVARIANCE_MATRIX does not check
 determinant any more.

---
 src/wolf.h | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/wolf.h b/src/wolf.h
index 6ea1df954..96267ea77 100644
--- a/src/wolf.h
+++ b/src/wolf.h
@@ -323,12 +323,10 @@ bool isCovariance(const Eigen::Matrix<T, N, N, RC>& M, const T& eps = Constants:
 }
 
 #define WOLF_ASSERT_COVARIANCE_MATRIX(x) \
-  assert(x.determinant() > 0 && "Not positive definite measurement covariance"); \
   assert(isCovariance(x, Constants::EPS_SMALL) && "Not a covariance");
 
 #define WOLF_ASSERT_INFORMATION_MATRIX(x) \
-  assert(x.determinant() > 0 && "Not positive definite measurement covariance"); \
-  assert(isCovariance(x, 0.) && "Not an information matrix");
+  assert(isCovariance(x, 0.0) && "Not an information matrix");
 
 //===================================================
 
-- 
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