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Fixed bug in iSAM2 when removing factors/variables. The set of ordering constraints should not contain unaffected variables.

release/4.3a0
Stephen Williams 2012-10-21 02:09:58 +00:00
parent 71bd64c693
commit 5505483111
1 changed files with 9 additions and 0 deletions
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9
gtsam/nonlinear/ISAM2.cpp
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@ -463,6 +463,15 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(const FastSet<Index>& mark
BOOST_FOREACH(Index unused, unusedIndices) { BOOST_FOREACH(Index unused, unusedIndices) {
affectedUsedKeys.erase(unused); affectedUsedKeys.erase(unused);
} }
// Remove unaffected keys from the constraints
FastMap<Index,int>::iterator iter = reorderingMode.constrainedKeys->begin();
while(iter != reorderingMode.constrainedKeys->end()) {
if(affectedUsedKeys.find(iter->first) == affectedUsedKeys.end()) {
reorderingMode.constrainedKeys->erase(iter++);
} else {
++iter;
}
}
Impl::PartialSolveResult partialSolveResult = Impl::PartialSolveResult partialSolveResult =
Impl::PartialSolve(factors, affectedUsedKeys, reorderingMode, (params_.factorization == ISAM2Params::QR)); Impl::PartialSolve(factors, affectedUsedKeys, reorderingMode, (params_.factorization == ISAM2Params::QR));
gttoc(PartialSolve); gttoc(PartialSolve);