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Added optional flag_bump_up_near_zero_probs.

release/4.3a0
Vadim Indelman 2013-08-29 22:42:33 +00:00
parent 141958123a
commit 86d21aaa05
1 changed files with 2 additions and 2 deletions
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4
gtsam_unstable/slam/BetweenFactorEM.h
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@ -69,10 +69,10 @@ namespace gtsam {
/** Constructor */ /** Constructor */
BetweenFactorEM(Key key1, Key key2, const VALUE& measured, BetweenFactorEM(Key key1, Key key2, const VALUE& measured,
const SharedGaussian& model_inlier, const SharedGaussian& model_outlier, const SharedGaussian& model_inlier, const SharedGaussian& model_outlier,
const double prior_inlier, const double prior_outlier) : const double prior_inlier, const double prior_outlier, const bool flag_bump_up_near_zero_probs = false) :
Base(cref_list_of<2>(key1)(key2)), key1_(key1), key2_(key2), measured_(measured), Base(cref_list_of<2>(key1)(key2)), key1_(key1), key2_(key2), measured_(measured),
model_inlier_(model_inlier), model_outlier_(model_outlier), model_inlier_(model_inlier), model_outlier_(model_outlier),
prior_inlier_(prior_inlier), prior_outlier_(prior_outlier), flag_bump_up_near_zero_probs_(false){ prior_inlier_(prior_inlier), prior_outlier_(prior_outlier), flag_bump_up_near_zero_probs_(flag_bump_up_near_zero_probs){
} }
virtual ~BetweenFactorEM() {} virtual ~BetweenFactorEM() {}