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add a TODO about reorder_relinearize

release/4.3a0
Varun Agrawal 2023-01-17 15:57:18 -05:00
parent bfa4d6f3e6
commit 7849cf4c41
1 changed files with 1 additions and 0 deletions
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gtsam/hybrid/HybridNonlinearISAM.cpp
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@ -39,6 +39,7 @@ void HybridNonlinearISAM::update(const HybridNonlinearFactorGraph& newFactors,
if (newFactors.size() > 0) { if (newFactors.size() > 0) {
// Reorder and relinearize every reorderInterval updates // Reorder and relinearize every reorderInterval updates
if (reorderInterval_ > 0 && ++reorderCounter_ >= reorderInterval_) { if (reorderInterval_ > 0 && ++reorderCounter_ >= reorderInterval_) {
// TODO(Varun) Relinearization doesn't take into account pruning
reorder_relinearize(); reorder_relinearize();
reorderCounter_ = 0; reorderCounter_ = 0;
} }