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fix issue 16

release/4.3a0
Brice Rebsamen 2019-05-22 11:37:49 -07:00
parent 1e42af6548
commit 9b70fcdcfd
1 changed files with 1 additions and 1 deletions
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2
gtsam/nonlinear/factorTesting.h
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@ -46,9 +46,9 @@ JacobianFactor linearizeNumerically(const NoiseModelFactor& factor,
// Loop over all variables
const double one_over_2delta = 1.0 / (2.0 * delta);
VectorValues dX = values.zeroVectors();
for(Key key: factor) {
// Compute central differences using the values struct.
VectorValues dX = values.zeroVectors();
const size_t cols = dX.dim(key);
Matrix J = Matrix::Zero(rows, cols);
for (size_t col = 0; col < cols; ++col) {