Fix LinearContainerFactor::rekey() segfault without linearization point#2467
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dellaert merged 1 commit intoborglab:developfrom Mar 13, 2026
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… point LinearContainerFactor::rekey() would segfault when called on a factor constructed without a linearization point, since it unconditionally dereferenced the optional linearizationPoint_ member. Wrap the linearization point rekeying in a has_value() check for both overloads. Fixes borglab#1904
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Description
LinearContainerFactor::rekey()segfaults when called on a factor constructed without a linearization point. Both overloads unconditionally dereference the optionallinearizationPoint_member.Fix
Guard the linearization point rekeying with a
has_value()check in bothrekeyoverloads, so the underlying linear factor keys are still remapped correctly even when no linearization point exists.Test
Added
RekeyWithoutLinearizationPointtest that exercises bothrekeyoverloads on aLinearContainerFactorconstructed from aHessianFactorwithout a linearization point.Fixes #1904