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Bug fix when getting nonlinear error debug statistics

release/4.3a0
Richard Roberts 2012-04-03 23:20:03 +00:00
parent 7226f910bb
commit 14d20cff0b
1 changed files with 4 additions and 4 deletions
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8
gtsam/nonlinear/ISAM2.cpp
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@ -561,15 +561,15 @@ ISAM2Result ISAM2::update(
if(debug) delta_.print("delta_: ");
//toc(9,"solve");
result.cliques = this->nodes().size();
deltaDoglegUptodate_ = false;
deltaUptodate_ = false;
tic(10,"evaluate error after");
if(params_.evaluateNonlinearError)
result.errorAfter.reset(nonlinearFactors_.error(calculateEstimate()));
toc(10,"evaluate error after");
result.cliques = this->nodes().size();
deltaDoglegUptodate_ = false;
deltaUptodate_ = false;
return result;
}