From 711e8c0a32de4c97e29f6af851b20095be2e3772 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Mon, 17 Jan 2011 16:48:47 +0000 Subject: [PATCH] =?UTF-8?q?Fixed=20NonlinearFactor3=20key=20sorting=20bug?= =?UTF-8?q?=20found=20by=20Niko=20S=C3=BCnderhauf=20(TU-Chemnitz)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- gtsam/nonlinear/NonlinearFactor.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/NonlinearFactor.h b/gtsam/nonlinear/NonlinearFactor.h index a5f06a090..85d13585a 100644 --- a/gtsam/nonlinear/NonlinearFactor.h +++ b/gtsam/nonlinear/NonlinearFactor.h @@ -525,7 +525,7 @@ namespace gtsam { if(var1 < var2 && var2 < var3) return IndexFactor::shared_ptr(new IndexFactor(ordering[key1_], ordering[key2_], ordering[key3_])); else if(var2 < var1 && var1 < var3) - return IndexFactor::shared_ptr(new IndexFactor(ordering[key2_], ordering[key2_], ordering[key3_])); + return IndexFactor::shared_ptr(new IndexFactor(ordering[key2_], ordering[key1_], ordering[key3_])); else if(var1 < var3 && var3 < var2) return IndexFactor::shared_ptr(new IndexFactor(ordering[key1_], ordering[key3_], ordering[key2_])); else if(var2 < var3 && var3 < var1)