From 9243655e3b612a94892c44c7a8193d53de74e689 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 25 Sep 2024 14:13:14 -0400
Subject: [PATCH] simplify

---
 gtsam/linear/NoiseModel.cpp | 13 ++++---------
 1 file changed, 4 insertions(+), 9 deletions(-)

diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index 18a29f5b33..7ee2158bee 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -282,15 +282,10 @@ Diagonal::Diagonal(const Vector& sigmas)
 
 /* ************************************************************************* */
 Diagonal::shared_ptr Diagonal::Variances(const Vector& variances, bool smart) {
-  if (smart) {
-    // check whether all the same entry
-    if ((variances.array() == variances(0)).all()) {
-      return Isotropic::Variance(variances.size(), variances(0), true);
-    } else
-      goto full;
-  }
-full:
-  return shared_ptr(new Diagonal(variances.cwiseSqrt()));
+  // check whether all the same entry
+  return (smart && (variances.array() == variances(0)).all())
+             ? Isotropic::Variance(variances.size(), variances(0), true)
+             : shared_ptr(new Diagonal(variances.cwiseSqrt()));
 }
 
 /* ************************************************************************* */