12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/nonlinear/factorTesting.h
View File

@ -46,9 +46,9 @@ JacobianFactor linearizeNumerically(const NoiseModelFactor& factor,
// Loop over all variables // Loop over all variables
const double one_over_2delta = 1.0 / (2.0 * delta); const double one_over_2delta = 1.0 / (2.0 * delta);
VectorValues dX = values.zeroVectors();
for(Key key: factor) { for(Key key: factor) {
// Compute central differences using the values struct. // Compute central differences using the values struct.
VectorValues dX = values.zeroVectors();
const size_t cols = dX.dim(key); const size_t cols = dX.dim(key);
Matrix J = Matrix::Zero(rows, cols); Matrix J = Matrix::Zero(rows, cols);
for (size_t col = 0; col < cols; ++col) { for (size_t col = 0; col < cols; ++col) {