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cleaner specific factor linearization

release/4.3a0
Varun Agrawal 2024-09-14 15:15:52 -04:00
parent 48e087e083
commit 43e6bc6462
1 changed files with 1 additions and 1 deletions
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gtsam/hybrid/HybridNonlinearFactor.h
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@ -236,7 +236,7 @@ class HybridNonlinearFactor : public HybridFactor {
GaussianFactor::shared_ptr linearize( GaussianFactor::shared_ptr linearize(
const Values& continuousValues, const Values& continuousValues,
const DiscreteValues& discreteValues) const { const DiscreteValues& discreteValues) const {
auto [factor, val] = factors_(discreteValues); auto factor = factors_(discreteValues).first;
return factor->linearize(continuousValues); return factor->linearize(continuousValues);
} }