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Returning Values reference from EasyFactorGraph::optimize caused segfault

release/4.3a0
Richard Roberts 2012-06-25 14:58:04 +00:00
parent c67cd8098d
commit 26dcb4a992
2 changed files with 4 additions and 4 deletions
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4
gtsam/nonlinear/EasyFactorGraph.cpp
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@ -33,14 +33,14 @@ namespace gtsam {
return LevenbergMarquardtOptimizer((*this), initialEstimate, p);
}
const Values& EasyFactorGraph::optimize(const Values& initialEstimate,
Values EasyFactorGraph::optimize(const Values& initialEstimate,
size_t verbosity) const {
LevenbergMarquardtParams p;
p.verbosity = (NonlinearOptimizerParams::Verbosity) verbosity;
return optimizer(initialEstimate, p).optimizeSafely();
}
const Values& EasyFactorGraph::optimizeSPCG(const Values& initialEstimate,
Values EasyFactorGraph::optimizeSPCG(const Values& initialEstimate,
size_t verbosity) const {
LevenbergMarquardtParams p;
p.verbosity = (NonlinearOptimizerParams::Verbosity) verbosity;

4
gtsam/nonlinear/EasyFactorGraph.h
View File

@ -49,14 +49,14 @@ namespace gtsam {
* @param initialEstimate initial estimate of all variables in the graph
* @param verbosity unsigned specifying verbosity level
*/
const Values& optimize(const Values& initialEstimate, size_t verbosity = 0) const;
Values optimize(const Values& initialEstimate, size_t verbosity = 0) const;
/**
* Safely optimize using subgraph preconditioning
* @param initialEstimate initial estimate of all variables in the graph
* @param verbosity unsigned specifying verbosity level
*/
const Values& optimizeSPCG(const Values& initialEstimate, size_t verbosity = 0) const;
Values optimizeSPCG(const Values& initialEstimate, size_t verbosity = 0) const;
/**
* Return a Marginals object, so you can query marginals