From a27f97dec4e1976b9f85c3de3f03f8b597d2840c Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Thu, 21 Nov 2013 15:42:17 +0000
Subject: [PATCH] Fix in ConcurrentFilteringAndSmoothing - one elimination call
 was using the default elimination function instead of the one from the
 parameters.

---
 gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.cpp b/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.cpp
index 49f0ac408..3b6b884f6 100644
--- a/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.cpp
+++ b/gtsam_unstable/nonlinear/ConcurrentFilteringAndSmoothing.cpp
@@ -71,7 +71,8 @@ NonlinearFactorGraph calculateMarginalFactors(const NonlinearFactorGraph& graph,
     // Create the linear factor graph
     GaussianFactorGraph linearFactorGraph = *graph.linearize(theta);
     // .first is the eliminated Bayes tree, while .second is the remaining factor graph
-    GaussianFactorGraph marginalLinearFactors = *linearFactorGraph.eliminatePartialMultifrontal(std::vector<Key>(marginalizeKeys.begin(), marginalizeKeys.end())).second;
+    GaussianFactorGraph marginalLinearFactors = *linearFactorGraph.eliminatePartialMultifrontal(
+        std::vector<Key>(marginalizeKeys.begin(), marginalizeKeys.end()), eliminateFunction).second;
 
     // Wrap in nonlinear container factors
     NonlinearFactorGraph marginalFactors;