fix empty factors bug

2014-09-25 11:18:51 -04:00 · 2014-09-25 11:18:51 -04:00 · 78d9a8cab8
parent 11969b32f6
commit 78d9a8cab8
1 changed files with 1 additions and 0 deletions
--- a/gtsam/linear/GaussianFactorGraph.cpp
+++ b/gtsam/linear/GaussianFactorGraph.cpp
@ -305,6 +305,7 @@ VectorValues GaussianFactorGraph::gradientAtZero(
    // Zero-out the gradient
    VectorValues g;
    BOOST_FOREACH(const sharedFactor& factor, *this) {
+      if (!factor) continue;
      VectorValues gi = factor->gradientAtZero(negDuals);
      g.addInPlace_(gi);
    }