From 693a0f991a385e4b334e498f092bab929062edbb Mon Sep 17 00:00:00 2001
From: Stephen Williams <stephen.vincent.williams@gmail.com>
Date: Fri, 12 Apr 2013 13:05:52 +0000
Subject: [PATCH] Added the Filter<->Smoother synchronization back into the
 example

---
 .../ConcurrentFilteringAndSmoothingExample.cpp        | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
index 6b0482c8f..a1151235f 100644
--- a/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
+++ b/gtsam_unstable/examples/ConcurrentFilteringAndSmoothingExample.cpp
@@ -130,10 +130,13 @@ int main(int argc, char** argv) {
     fixedlagSmoother.update(newFactors, newValues, newTimestamps);
     batchSmoother.update(newFactors, newValues, newTimestamps);
 
-//    // Manually synchronize the Concurrent Filter and Smoother every 1.0 s
-//    if(fmod(time, 1.0) < 0.01) {
-//      synchronize(concurrentFilter, concurrentSmoother);
-//    }
+    // Manually synchronize the Concurrent Filter and Smoother every 1.0 s
+    if(fmod(time, 1.0) < 0.01) {
+      // Synchronize the Filter and Smoother
+      synchronize(concurrentFilter, concurrentSmoother);
+//      // Update the smoother
+//      concurrentSmoother.update();
+    }
 
     // Print the optimized current pose
     cout << setprecision(5) << "Timestamp = " << time << endl;