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works at least on already solved data...

release/4.3a0
Michael Kaess 2010-01-21 16:09:57 +00:00
parent 0dc4f417e9
commit 523c8630d3
1 changed files with 7 additions and 1 deletions
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8
cpp/ISAM2-inl.h
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@ -137,6 +137,12 @@ namespace gtsam {
void ISAM2<Conditional, Config>::update_internal(const NonlinearFactorGraph<Config>& newFactors,
const Config& config, Cliques& orphans, double wildfire_threshold, double relinearize_threshold) {
// todo - debug only
// marked_ = nonlinearFactors_.keys();
//// 1 - add in new information
// add new variables
@ -158,7 +164,7 @@ namespace gtsam {
BayesNet<GaussianConditional> affectedBayesNet;
this->removeTop(marked_, affectedBayesNet, orphans);
//// 3 - find factors connected to marked variables
//// 3 - find factors connected to affected variables
//// 4 - linearize
// ordering provides all keys in conditionals, there cannot be others because path to root included