From 7644ff00807497e93427e8e34526184c49926b6f Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 23 Jan 2010 01:08:42 +0000 Subject: [PATCH] optimize returns Vector, does not update --- cpp/Pose2SLAMOptimizer.h | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/cpp/Pose2SLAMOptimizer.h b/cpp/Pose2SLAMOptimizer.h index 342c37ad3..542016a75 100644 --- 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; } /**