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Removed debug-only variable in iSAM2 that was causing a crash when gtsam was compiled with NDEBUG defined and a project compiled without it defined, or vice-versa

release/4.3a0
Richard Roberts 2012-07-10 22:42:28 +00:00
parent af52b6811f
commit 384f50f1fe
2 changed files with 0 additions and 15 deletions
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10
gtsam/nonlinear/ISAM2.cpp
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@ -86,9 +86,6 @@ ISAM2& ISAM2::operator=(const ISAM2& rhs) {
params_ = rhs.params_; params_ = rhs.params_;
doglegDelta_ = rhs.doglegDelta_; doglegDelta_ = rhs.doglegDelta_;
#ifndef NDEBUG
lastRelinVariables_ = rhs.lastRelinVariables_;
#endif
lastAffectedVariableCount = rhs.lastAffectedVariableCount; lastAffectedVariableCount = rhs.lastAffectedVariableCount;
lastAffectedFactorCount = rhs.lastAffectedFactorCount; lastAffectedFactorCount = rhs.lastAffectedFactorCount;
lastAffectedCliqueCount = rhs.lastAffectedCliqueCount; lastAffectedCliqueCount = rhs.lastAffectedCliqueCount;
@ -661,15 +658,8 @@ ISAM2Result ISAM2::update(
toc(7,"expmap"); toc(7,"expmap");
result.variablesRelinearized = markedKeys.size(); result.variablesRelinearized = markedKeys.size();
#ifndef NDEBUG
lastRelinVariables_ = markedRelinMask;
#endif
} else { } else {
result.variablesRelinearized = 0; result.variablesRelinearized = 0;
#ifndef NDEBUG
lastRelinVariables_ = vector<bool>(ordering_.nVars(), false);
#endif
} }
tic(8,"linearize new"); tic(8,"linearize new");

5
gtsam/nonlinear/ISAM2.h
View File

@ -403,11 +403,6 @@ protected:
/** The inverse ordering, only used for creating ISAM2Result::DetailedResults */ /** The inverse ordering, only used for creating ISAM2Result::DetailedResults */
boost::optional<Ordering::InvertedMap> inverseOrdering_; boost::optional<Ordering::InvertedMap> inverseOrdering_;
private:
#ifndef NDEBUG
std::vector<bool> lastRelinVariables_;
#endif
public: public:
typedef ISAM2 This; ///< This class typedef ISAM2 This; ///< This class