Small rename for clarity.
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456c8eb6ed
commit
b58d377a97
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@ -635,10 +635,11 @@ EliminateCholesky(const GaussianFactorGraph& factors, const Ordering& keys)
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// Do dense elimination
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GaussianConditional::shared_ptr conditional;
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try {
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VerticalBlockMatrix Ab = jointFactor->info_.choleskyPartial(keys.size());
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conditional = boost::make_shared<GaussianConditional>(jointFactor->keys(), keys.size(), Ab);
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size_t numberOfKeysToEliminate = keys.size();
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VerticalBlockMatrix Ab = jointFactor->info_.choleskyPartial(numberOfKeysToEliminate);
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conditional = boost::make_shared<GaussianConditional>(jointFactor->keys(), numberOfKeysToEliminate, Ab);
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// Erase the eliminated keys in the remaining factor
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jointFactor->keys_.erase(jointFactor->begin(), jointFactor->begin() + keys.size());
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jointFactor->keys_.erase(jointFactor->begin(), jointFactor->begin() + numberOfKeysToEliminate);
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} catch(CholeskyFailed&) {
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throw IndeterminantLinearSystemException(keys.front());
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}
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