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make jacobian factor use noise model distance when available

release/4.3a0
Mike Bosse 2019-12-16 15:52:24 -08:00
parent 63ef77156e
commit 1f43d73b34
1 changed files with 4 additions and 2 deletions
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6
gtsam/linear/JacobianFactor.cpp
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@ -513,8 +513,10 @@ Vector JacobianFactor::error_vector(const VectorValues& c) const {
/* ************************************************************************* */ /* ************************************************************************* */
double JacobianFactor::error(const VectorValues& c) const { double JacobianFactor::error(const VectorValues& c) const {
Vector weighted = error_vector(c); Vector e = unweighted_error(c);
return 0.5 * weighted.dot(weighted); // Use the noise model distance function to get the correct error if available.
if (model_) return 0.5 * model_->distance(e);
return 0.5 * e.dot(e);
} }
/* ************************************************************************* */ /* ************************************************************************* */