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fixed #643

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matlabbe
2020-11-22 14:29:05 -05:00
parent bdc7be40b4
commit f88845e138
3 changed files with 18 additions and 4 deletions
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corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
+2 -2
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@@ -78,8 +78,8 @@ namespace vertigo {
inline SwitchVariableLinear between(const SwitchVariableLinear& l2,
boost::optional<gtsam::Matrix&> H1=boost::none,
boost::optional<gtsam::Matrix&> H2=boost::none) const {
if(H1) *H1 = -gtsam::eye(1);
if(H2) *H2 = gtsam::eye(1);
if(H1) *H1 = -gtsam::Matrix::Identity(1, 1);
if(H2) *H2 = gtsam::Matrix::Identity(1, 1);
return SwitchVariableLinear(l2.value() - value());
}