Fixes

.github/ISSUE_TEMPLATE/bug-report.md

@@ -3,12 +3,12 @@ name: "Bug Report"
 about: Submit a bug report to help us improve GTSAM
 ---
 
+<!-- This is a channel to report bugs/issues, not a support channel to help install/use/debug your own code. We'd love to help, but just don't have the bandwidth. Please post questions in the GTSAM Google group (https://groups.google.com/forum/#!forum/gtsam-users) -->
+
 <!--Please only submit issues/bug reports that come with enough information to reproduce them, ideally a unit test that fails, and possible ideas on what might be wrong. -->
 
 <!-- Even better yet, fix the bug and/or documentation, add a unit test, and create a pull request! -->
 
-<!-- This is a channel to report bugs/issues, not a support channel to help install/use/debug your own code. We'd love to help, but just don't have the bandwidth. Please post questions in the GTSAM Google group (https://groups.google.com/forum/#!forum/gtsam-users) -->
-
 ## Description
 
 <!-- A clear description of the bug -->

gtsam/linear/linear.i

@@ -733,10 +733,10 @@ virtual class BlockJacobiPreconditionerParameters : gtsam::PreconditionerParamet
 #include <gtsam/linear/PCGSolver.h>
 virtual class PCGSolverParameters : gtsam::ConjugateGradientParameters {
   PCGSolverParameters();
-  PCGSolverParameters(gtsam::PreconditionerParameters* preconditioner);
+  PCGSolverParameters(const gtsam::PreconditionerParameters* preconditioner);
   void print(string s = "");
-  
-  gtsam::PreconditionerParameters* preconditioner;
+
+  std::shared_ptr<gtsam::PreconditionerParameters> preconditioner;
 };
 
 #include <gtsam/linear/SubgraphSolver.h>

gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h

@@ -146,7 +146,7 @@ double lineSearch(const S &system, const V currentValues, const W &gradient) {
   double newError = system.error(newValues);
 
   while (true) {
-    const bool flag = (maxStep - newStep > newStep - minStep) ? true : false;
+    const bool flag = (maxStep - newStep > newStep - minStep);
     const double testStep = flag ? newStep + resphi * (maxStep - newStep)
                                  : newStep - resphi * (newStep - minStep);
 

gtsam/nonlinear/internal/ChiSquaredInverse.h

@@ -36,7 +36,7 @@ namespace internal {
  * @param alpha Quantile value
  * @return double
  */
-double chi_squared_quantile(const double dofs, const double alpha) {
+inline double chi_squared_quantile(const double dofs, const double alpha) {
   return 2 * igami(dofs / 2, alpha);
 }