From 316befbd2a1e1f48dcd1a0d050df2bf0932a3e7a Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Mon, 1 Jul 2013 20:19:28 +0000
Subject: [PATCH] Added tic

---
 gtsam/linear/NoiseModel.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index 5a953eda5..b72843b83 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -110,6 +110,8 @@ void Gaussian::WhitenInPlace(Matrix& H) const {
 // General QR, see also special version in Constrained
 SharedDiagonal Gaussian::QR(Matrix& Ab) const {
 
+  gttic(Gaussian_noise_model_QR);
+
   static const bool debug = false;
 
   // get size(A) and maxRank
@@ -129,7 +131,7 @@ SharedDiagonal Gaussian::QR(Matrix& Ab) const {
   // TODO: necessary to isolate last column?
 //  householder(Ab, maxRank);
 
-  return Unit::Create(maxRank);
+  return SharedDiagonal();
 }
 
 void Gaussian::WhitenSystem(vector<Matrix>& A, Vector& b) const {