Bug fix when relinearizing on first step in iSAM2

2012-04-03 22:06:06 +00:00 · 2012-04-03 22:06:06 +00:00 · 7226f910bb
parent 8cd7662dab
commit 7226f910bb
1 changed files with 2 additions and 1 deletions
--- a/gtsam/nonlinear/ISAM2.cpp
+++ b/gtsam/nonlinear/ISAM2.cpp
@ -743,6 +743,7 @@ void gradientAtZero(const ISAM2& bayesTree, VectorValues& g) {
  g.setZero();

  // Sum up contributions for each clique
+  if(bayesTree.root())
    gradientAtZeroTreeAdder(bayesTree.root(), g);
 }