fix scope of covarianceFiniteDiff Σ

JuliaRobotics · Oct 13, 2023 · 2188482 · 2188482
1 parent 752dc27
commit 2188482
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/src/parametric/services/ParametricManopt.jl b/src/parametric/services/ParametricManopt.jl
@@ -297,13 +297,13 @@ function covarianceFiniteDiff(M, jacF!::JacF_RLM!, p0)
     H = FiniteDiff.finite_difference_hessian(costf, X0)
 
     # inv(H)
-    try 
-      Σ = Matrix(H) \ Matrix{eltype(H)}(I, size(H)...)
-    catch ex #TODO only catch correct exception and try with pinv as fallback in certain cases.
-      @warn "Hessian inverse failed" ex
-      # Σ = pinv(H)
-      Σ = nothing
-    end
+    Σ = try 
+        Matrix(H) \ Matrix{eltype(H)}(I, size(H)...)
+      catch ex #TODO only catch correct exception and try with pinv as fallback in certain cases.
+        @warn "Hessian inverse failed" ex
+        # Σ = pinv(H)
+        nothing
+      end
     return Σ
 end