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Revert "Ported a fix from Steve for keeping factor order consistent (I don't remember why this is needed)" 

This reverts commit 975d470b0fb7637c0f46e967301da4eda0f04b5a.
release/4.3a0
Richard Roberts 2013-08-20 17:07:40 +00:00
parent 4fb7235310
commit 6a89db28bb
1 changed files with 2 additions and 3 deletions
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5
gtsam/nonlinear/ISAM2.cpp
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@ -762,8 +762,7 @@ void ISAM2::marginalizeLeaves(const FastList<Key>& leafKeysList,
// Keep track of marginal factors - map from clique to the marginal factors // Keep track of marginal factors - map from clique to the marginal factors
// that should be incorporated into it, passed up from it's children. // that should be incorporated into it, passed up from it's children.
// multimap<sharedClique, GaussianFactor::shared_ptr> marginalFactors; multimap<sharedClique, GaussianFactor::shared_ptr> marginalFactors;
map<Key, vector<GaussianFactor::shared_ptr> > marginalFactors; // Steve's fix for making factor order consistent
// Remove each variable and its subtrees // Remove each variable and its subtrees
BOOST_REVERSE_FOREACH(Key j, leafKeys) { BOOST_REVERSE_FOREACH(Key j, leafKeys) {
@ -785,7 +784,7 @@ void ISAM2::marginalizeLeaves(const FastList<Key>& leafKeysList,
// because their information is already incorporated in the new // because their information is already incorporated in the new
// marginal factor. So, now associate this marginal factor with the // marginal factor. So, now associate this marginal factor with the
// parent of this clique. // parent of this clique.
marginalFactors[clique->parent()->conditional()->front()].push_back(marginalFactor); marginalFactors.insert(make_pair(clique->parent(), marginalFactor));
// Now remove this clique and its subtree - all of its marginal // Now remove this clique and its subtree - all of its marginal
// information has been stored in marginalFactors. // information has been stored in marginalFactors.
const Cliques removedCliques = this->removeSubtree(clique); // Remove the subtree and throw away the cliques const Cliques removedCliques = this->removeSubtree(clique); // Remove the subtree and throw away the cliques