From 95e97c2dfc63f5c98475a1c83cea85740585ab1b Mon Sep 17 00:00:00 2001 From: Stephen Williams Date: Thu, 11 Apr 2013 20:07:58 +0000 Subject: [PATCH] Changed the default 'enforceConsistency' flag to true in the Batch Fixed-Lag Smoother to match the incremental version --- gtsam_unstable/nonlinear/BatchFixedLagSmoother.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h index 052ece088..7f3e89803 100644 --- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h +++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.h @@ -34,7 +34,7 @@ public: typedef boost::shared_ptr shared_ptr; /** default constructor */ - BatchFixedLagSmoother(double smootherLag = 0.0, const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams(), bool enforceConsistency = false) : + BatchFixedLagSmoother(double smootherLag = 0.0, const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams(), bool enforceConsistency = true) : FixedLagSmoother(smootherLag), parameters_(parameters), enforceConsistency_(enforceConsistency) { }; /** destructor */