For more infomation about this bug, visit <https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=463>

--- Comment #4 from François Cauwe <francois [..] >  2007-12-22 00:49:00 ---

I propose to remove the function DimensionSet, like discussed in [1].
The only place where it is called outside the class itself is in:
./filterproposaldensity.cpp:
_TmpPrior->DimensionSet(SysModel->StateSizeGet());

There it is meant for the initialisation of _TmpPrior. _TmpPrior is a gaussian,
and no code really handles the dimensionSet function(only changes the
variable). However this methode works because of:

  Gaussian::ExpectedValueSet (const ColumnVector& mu)
  {
    _Mu = mu;
    if (this->DimensionGet() == 0)
      {
        this->DimensionSet(mu.rows());
      }
    assert(this->DimensionGet() == mu.rows());
  }

If you first call DimensionSet(3) and then set the expectedValue with mu 1x3,
it works, but the covariance might still be wrong.

Also the line _TmpPrior->DimensionSet(SysModel->StateSizeGet()); is not
needed for initialisation, because the first time you call ExpectedValueSet it
will set the right dimension, as shown in bug #465.

[1] http://lists.mech.kuleuven.be/pipermail/bfl/2007-December/000822.html