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Bug fix when relinearizing on first step in iSAM2

release/4.3a0
Richard Roberts 2012-04-03 22:06:06 +00:00
parent 8cd7662dab
commit 7226f910bb
1 changed files with 2 additions and 1 deletions
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3
gtsam/nonlinear/ISAM2.cpp
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@ -743,7 +743,8 @@ void gradientAtZero(const ISAM2& bayesTree, VectorValues& g) {
g.setZero();
// Sum up contributions for each clique
gradientAtZeroTreeAdder(bayesTree.root(), g);
if(bayesTree.root())
gradientAtZeroTreeAdder(bayesTree.root(), g);
}
}