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Fixed bug in calculateEstimate() function when provideing a key. Function did not get migrated to the new Values structure

release/4.3a0
Stephen Williams 2012-02-28 17:37:24 +00:00
parent c48a9431a0
commit 66c771b56c
2 changed files with 5 additions and 5 deletions
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6
gtsam/nonlinear/ISAM2-inl.h
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@ -593,11 +593,11 @@ Values ISAM2<CONDITIONAL, GRAPH>::calculateEstimate() const {
/* ************************************************************************* */ /* ************************************************************************* */
template<class CONDITIONAL, class GRAPH> template<class CONDITIONAL, class GRAPH>
template<class KEY> template<class VALUE>
typename KEY::Value ISAM2<CONDITIONAL, GRAPH>::calculateEstimate(const KEY& key) const { VALUE ISAM2<CONDITIONAL, GRAPH>::calculateEstimate(Key key) const {
const Index index = getOrdering()[key]; const Index index = getOrdering()[key];
const SubVector delta = getDelta()[index]; const SubVector delta = getDelta()[index];
return getLinearizationPoint()[key].retract(delta); return theta_.at<VALUE>(key).retract(delta);
} }
/* ************************************************************************* */ /* ************************************************************************* */

4
gtsam/nonlinear/ISAM2.h
View File

@ -390,8 +390,8 @@ public:
* @param key * @param key
* @return * @return
*/ */
template<class KEY> template<class VALUE>
typename KEY::Value calculateEstimate(const KEY& key) const; VALUE calculateEstimate(Key key) const;
/// @name Public members for non-typical usage /// @name Public members for non-typical usage
//@{ //@{