From 12db5dd947481bc1990dddae5f527ca4724be788 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Sat, 17 Sep 2022 08:05:07 -0400 Subject: [PATCH] undo changes --- gtsam/hybrid/HybridGaussianISAM.cpp | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/gtsam/hybrid/HybridGaussianISAM.cpp b/gtsam/hybrid/HybridGaussianISAM.cpp index c7811992e..1a95c0c93 100644 --- a/gtsam/hybrid/HybridGaussianISAM.cpp +++ b/gtsam/hybrid/HybridGaussianISAM.cpp @@ -62,9 +62,9 @@ void HybridGaussianISAM::updateInternal( for (const sharedClique& orphan : *orphans) factors += boost::make_shared >(orphan); - // Get all the discrete keys from the new factors + // Get all the discrete keys from the factors KeySet allDiscrete; - for (auto& factor : newFactors) { + for (auto& factor : factors) { for (auto& k : factor->discreteKeys()) { allDiscrete.insert(k.first); } @@ -83,7 +83,7 @@ void HybridGaussianISAM::updateInternal( std::back_inserter(newKeysDiscreteLast)); // Get an ordering where the new keys are eliminated last - const VariableIndex index(newFactors); + const VariableIndex index(factors); Ordering elimination_ordering; if (ordering) { @@ -95,14 +95,10 @@ void HybridGaussianISAM::updateInternal( true); } - GTSAM_PRINT(elimination_ordering); - std::cout << "\n\n\n\neliminateMultifrontal" << std::endl; - GTSAM_PRINT(factors); // eliminate all factors (top, added, orphans) into a new Bayes tree HybridBayesTree::shared_ptr bayesTree = factors.eliminateMultifrontal(elimination_ordering, function, index); - std::cout << "optionally prune" << std::endl; if (maxNrLeaves) { bayesTree->prune(*maxNrLeaves); }