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Fixed NonlinearFactor3 key sorting bug found by Niko Sünderhauf (TU-Chemnitz)

release/4.3a0
Richard Roberts 2011-01-17 16:48:47 +00:00
parent 9d03789b8b
commit 711e8c0a32
1 changed files with 1 additions and 1 deletions
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2
gtsam/nonlinear/NonlinearFactor.h
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@ -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)