optimize returns Vector, does not update

2010-01-23 01:08:42 +00:00 · 2010-01-23 01:08:42 +00:00 · 7644ff0080
parent ada844300d
commit 7644ff0080
1 changed files with 4 additions and 3 deletions
--- a/cpp/Pose2SLAMOptimizer.h
+++ b/cpp/Pose2SLAMOptimizer.h
@ -77,11 +77,12 @@ namespace gtsam {
 		}

 		/**
-		 * linearize around current theta: done at construction and at update
+		 * Optimize to get a
 		 */
-		void optimize() {
+		Vector optimize() {
 			VectorConfig X = solver_.optimize(*system_);
-			update(X);
+			Vector x; // TODO convert to Vector
+			return x;
 		}

 		/**