Small rename for clarity.
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				|  | @ -635,10 +635,11 @@ EliminateCholesky(const GaussianFactorGraph& factors, const Ordering& keys) | |||
|   // Do dense elimination
 | ||||
|   GaussianConditional::shared_ptr conditional; | ||||
|   try { | ||||
|     VerticalBlockMatrix Ab = jointFactor->info_.choleskyPartial(keys.size()); | ||||
|     conditional = boost::make_shared<GaussianConditional>(jointFactor->keys(), keys.size(), Ab); | ||||
|     size_t numberOfKeysToEliminate = keys.size(); | ||||
|     VerticalBlockMatrix Ab = jointFactor->info_.choleskyPartial(numberOfKeysToEliminate); | ||||
|     conditional = boost::make_shared<GaussianConditional>(jointFactor->keys(), numberOfKeysToEliminate, Ab); | ||||
|     // Erase the eliminated keys in the remaining factor
 | ||||
|     jointFactor->keys_.erase(jointFactor->begin(), jointFactor->begin() + keys.size()); | ||||
|     jointFactor->keys_.erase(jointFactor->begin(), jointFactor->begin() + numberOfKeysToEliminate); | ||||
|   } catch(CholeskyFailed&) { | ||||
|     throw IndeterminantLinearSystemException(keys.front()); | ||||
|   } | ||||
|  |  | |||
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