diff --git a/gtsam/inference/EliminateableFactorGraph-inst.h b/gtsam/inference/EliminateableFactorGraph-inst.h index 9e01d0765..bebce14cd 100644 --- a/gtsam/inference/EliminateableFactorGraph-inst.h +++ b/gtsam/inference/EliminateableFactorGraph-inst.h @@ -43,15 +43,18 @@ namespace gtsam { // VariableIndex already here because we computed one if needed in the previous 'if' block. if (orderingType == Ordering::METIS) { Ordering computedOrdering = Ordering::Metis(asDerived()); + return eliminateSequential(computedOrdering, function, variableIndex); } else if (orderingType == Ordering::COLAMD) { Ordering computedOrdering = Ordering::Colamd(*variableIndex); + return eliminateSequential(computedOrdering, function, variableIndex); } else if (orderingType == Ordering::NATURAL) { Ordering computedOrdering = Ordering::Natural(asDerived()); + return eliminateSequential(computedOrdering, function, variableIndex); } else { Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc( asDerived(), variableIndex); + return eliminateSequential(computedOrdering, function, variableIndex); } - return eliminateSequential(computedOrdering, function, variableIndex); } } @@ -103,15 +106,18 @@ namespace gtsam { // the previous 'if' block. if (orderingType == Ordering::METIS) { Ordering computedOrdering = Ordering::Metis(asDerived()); + return eliminateMultifrontal(computedOrdering, function, variableIndex); } else if (orderingType == Ordering::COLAMD) { Ordering computedOrdering = Ordering::Colamd(*variableIndex); + return eliminateMultifrontal(computedOrdering, function, variableIndex); } else if (orderingType == Ordering::NATURAL) { Ordering computedOrdering = Ordering::Natural(asDerived()); + return eliminateMultifrontal(computedOrdering, function, variableIndex); } else { Ordering computedOrdering = EliminationTraitsType::DefaultOrderingFunc( asDerived(), variableIndex); + return eliminateMultifrontal(computedOrdering, function, variableIndex); } - return eliminateMultifrontal(computedOrdering, function, variableIndex); } }