Removed unnecessary null pointer checks

fix RainerKuemmerle#97
mafilipp · Mar 25, 2016 · 9fb9e29 · 9fb9e29
1 parent 3539047
commit 9fb9e29
Show file tree

Hide file tree

Showing 4 changed files with 25 additions and 46 deletions.
diff --git a/g2o/core/block_solver.hpp b/g2o/core/block_solver.hpp
@@ -91,42 +91,24 @@ void BlockSolver<Traits>::resize(int* blockPoseIndices, int numPoseBlocks,
 template <typename Traits>
 void BlockSolver<Traits>::deallocate()
 {
-  if (_Hpp){
-    delete _Hpp;
-    _Hpp=0;
-  }
-  if (_Hll){
-    delete _Hll;
-    _Hll=0;
-  }
-  if (_Hpl){
-    delete _Hpl;
-    _Hpl = 0;
-  }
-  if (_Hschur){
-    delete _Hschur;
-    _Hschur=0;
-  }
-  if (_DInvSchur){
-    delete _DInvSchur;
-    _DInvSchur=0;
-  }
-  if (_coefficients) {
-    delete[] _coefficients;
-    _coefficients = 0;
-  }
-  if (_bschur) {
-    delete[] _bschur;
-    _bschur = 0;
-  }
-  if (_HplCCS) {
-    delete _HplCCS;
-    _HplCCS = 0;
-  }
-  if (_HschurTransposedCCS) {
-    delete _HschurTransposedCCS;
-    _HschurTransposedCCS = 0;
-  }
+  delete _Hpp;
+  _Hpp=0;
+  delete _Hll;
+  _Hll=0;
+  delete _Hpl;
+  _Hpl = 0;
+  delete _Hschur;
+  _Hschur=0;
+  delete _DInvSchur;
+  _DInvSchur=0;
+  delete[] _coefficients;
+  _coefficients = 0;
+  delete[] _bschur;
+  _bschur = 0;
+  delete _HplCCS;
+  _HplCCS = 0;
+  delete _HschurTransposedCCS;
+  _HschurTransposedCCS = 0;
 }
 
 template <typename Traits>

diff --git a/g2o/core/hyper_graph.cpp b/g2o/core/hyper_graph.cpp
@@ -37,8 +37,7 @@ namespace g2o {
   }
 
   HyperGraph::Data::~Data() {
-    if(_next)
-      delete _next;
+    delete _next;
   }
 
   HyperGraph::Vertex::Vertex(int id) : _id(id)

diff --git a/g2o/core/optimizable_graph.cpp b/g2o/core/optimizable_graph.cpp
@@ -73,10 +73,8 @@ namespace g2o {
 
   OptimizableGraph::Vertex::~Vertex()
   {
-    if (_cacheContainer)
-      delete (_cacheContainer);
-    if (_userData)
-      delete _userData;
+    delete _cacheContainer;
+    delete _userData;
   }
 
   OptimizableGraph::Vertex* OptimizableGraph::Vertex::clone() const

diff --git a/g2o/stuff/sampler.h b/g2o/stuff/sampler.h
@@ -47,15 +47,15 @@ namespace g2o {
   template <class SampleType, class CovarianceType>
   class GaussianSampler {
   public:
-    GaussianSampler(bool hasGenerator=true){
-      _generator = 0;
+    GaussianSampler(bool hasGenerator=true) :
+      _generator(0)
+    {
       if (hasGenerator){
         _generator = new std::mt19937;
       }
     }
     ~GaussianSampler() {
-      if (_generator)
-        delete _generator;
+      delete _generator;
     }
     void setDistribution(const CovarianceType& cov){
       Eigen::LLT<CovarianceType> cholDecomp;