diff --git a/gtsam/inference/BayesTree-inl.h b/gtsam/inference/BayesTree-inl.h index 5eeb619e3..6178b6446 100644 --- a/gtsam/inference/BayesTree-inl.h +++ b/gtsam/inference/BayesTree-inl.h @@ -133,7 +133,6 @@ namespace gtsam { void BayesTree::Clique::permuteWithInverse(const Permutation& inversePermutation) { BayesNet::permuteWithInverse(inversePermutation); BOOST_FOREACH(Index& separatorKey, separator_) { separatorKey = inversePermutation[separatorKey]; } - if(cachedFactor_) cachedFactor_->permuteWithInverse(inversePermutation); BOOST_FOREACH(const shared_ptr& child, children_) { child->permuteWithInverse(inversePermutation); } @@ -153,7 +152,6 @@ namespace gtsam { #endif if(changed) { BOOST_FOREACH(Index& separatorKey, separator_) { separatorKey = inversePermutation[separatorKey]; } - if(cachedFactor_) cachedFactor_->permuteWithInverse(inversePermutation); BOOST_FOREACH(const shared_ptr& child, children_) { (void)child->permuteSeparatorWithInverse(inversePermutation); } diff --git a/gtsam/inference/BayesTree.h b/gtsam/inference/BayesTree.h index 220f1b45f..a5ad7732e 100644 --- a/gtsam/inference/BayesTree.h +++ b/gtsam/inference/BayesTree.h @@ -58,7 +58,6 @@ namespace gtsam { weak_ptr parent_; std::list children_; std::list separator_; /** separator keys */ - typename CONDITIONAL::Factor::shared_ptr cachedFactor_; friend class BayesTree; @@ -87,9 +86,6 @@ namespace gtsam { std::list& children() { return children_; } const std::list& children() const { return children_; } - /** Reference the cached factor */ - typename CONDITIONAL::Factor::shared_ptr& cachedFactor() { return cachedFactor_; } - /** The size of subtree rooted at this clique, i.e., nr of Cliques */ size_t treeSize() const; diff --git a/gtsam/inference/JunctionTree-inl.h b/gtsam/inference/JunctionTree-inl.h index c9938f330..0278f4f98 100644 --- a/gtsam/inference/JunctionTree-inl.h +++ b/gtsam/inference/JunctionTree-inl.h @@ -188,7 +188,6 @@ namespace gtsam { BOOST_FOREACH(typename BayesTree::sharedClique& childRoot, children) childRoot->parent_ = new_clique; - new_clique->cachedFactor() = jointFactor; toc("JT 2.4 Update tree"); return make_pair(new_clique, jointFactor); }