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Fix marginalizeLeaves bug

release/4.3a0
Richard Roberts 2013-08-10 15:51:52 +00:00
parent a056ba2095
commit 67431ba8ad
1 changed files with 2 additions and 2 deletions
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4
gtsam/nonlinear/ISAM2.cpp
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@ -871,11 +871,11 @@ void ISAM2::marginalizeLeaves(const FastList<Key>& leafKeysList)
graph2.push_back(clique->conditional()); graph2.push_back(clique->conditional());
GaussianFactorGraph::EliminationResult eliminationResult2 = GaussianFactorGraph::EliminationResult eliminationResult2 =
params_.getEliminationFunction()(graph2, Ordering( params_.getEliminationFunction()(graph2, Ordering(
clique->conditional()->beginFrontals(), jPosition)); clique->conditional()->beginFrontals(), jPosition + 1));
GaussianFactorGraph graph3; GaussianFactorGraph graph3;
graph3.push_back(eliminationResult2.second); graph3.push_back(eliminationResult2.second);
GaussianFactorGraph::EliminationResult eliminationResult3 = GaussianFactorGraph::EliminationResult eliminationResult3 =
params_.getEliminationFunction()(graph3, Ordering(jPosition, clique->conditional()->endFrontals())); params_.getEliminationFunction()(graph3, Ordering(jPosition + 1, clique->conditional()->endFrontals()));
sharedClique newClique = boost::make_shared<Clique>(); sharedClique newClique = boost::make_shared<Clique>();
newClique->setEliminationResult(make_pair(eliminationResult3.first, clique->cachedFactor())); newClique->setEliminationResult(make_pair(eliminationResult3.first, clique->cachedFactor()));