Proposed noiseModel optimization fails

Issue #128 new
Frank Dellaert created an issue

I added what I thought was a smart addition to noiseModel, a predicated is_constrained(), to avoid dynamic_cast checking which is slow. However, it segfaults for me. I can't see the bug, though... I put it in a branch at this commit: 649478f . @thduynguyen , perhaps you can take a look? (or anyone else for that matter, if you see the problem from the commit log alone, eh @cbeall3 ?)

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