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Fixed bug in relinarized variable count

release/4.3a0
Richard Roberts 2011-11-14 21:39:42 +00:00
parent 7cd6eaa8e4
commit 2c5135e5f9
1 changed files with 2 additions and 2 deletions
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4
gtsam/nonlinear/ISAM2-inl.h
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@ -490,14 +490,14 @@ ISAM2Result ISAM2<Conditional, Values>::update(
Impl::ExpmapMasked(theta_, delta_, ordering_, markedRelinMask, delta_); Impl::ExpmapMasked(theta_, delta_, ordering_, markedRelinMask, delta_);
toc(6,"expmap"); toc(6,"expmap");
result.variablesRelinearized = markedRelinMask.size(); result.variablesRelinearized = markedKeys.size();
#ifndef NDEBUG #ifndef NDEBUG
lastRelinVariables_ = markedRelinMask; lastRelinVariables_ = markedRelinMask;
#endif #endif
} else { } else {
#ifndef NDEBUG
result.variablesRelinearized = 0; result.variablesRelinearized = 0;
#ifndef NDEBUG
lastRelinVariables_ = vector<bool>(ordering_.nVars(), false); lastRelinVariables_ = vector<bool>(ordering_.nVars(), false);
#endif #endif
} }