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fixed bug when reorder/relinearize is called with no factors

release/4.3a0
Julian Straub 2011-02-16 22:59:09 +00:00
parent ff0cb3eafb
commit 02fe443b44
1 changed files with 14 additions and 12 deletions
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2
gtsam/nonlinear/NonlinearISAM-inl.h
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@ -64,6 +64,7 @@ void NonlinearISAM<Values>::reorder_relinearize() {
// cout << "Reordering, relinearizing..." << endl; // cout << "Reordering, relinearizing..." << endl;
if(factors_.size() > 0) {
// Obtain the new linearization point // Obtain the new linearization point
const Values newLinPoint = estimate(); const Values newLinPoint = estimate();
@ -82,6 +83,7 @@ void NonlinearISAM<Values>::reorder_relinearize() {
// Update linearization point // Update linearization point
linPoint_ = newLinPoint; linPoint_ = newLinPoint;
} }
}
/* ************************************************************************* */ /* ************************************************************************* */
template<class Values> template<class Values>