From b58d377a97528292f58f53583c91ef7f1ad941c5 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 15 Aug 2014 17:34:09 +0200 Subject: [PATCH] Small rename for clarity. --- gtsam/linear/HessianFactor.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/linear/HessianFactor.cpp b/gtsam/linear/HessianFactor.cpp index 6f40b9bea..58aee8073 100644 --- a/gtsam/linear/HessianFactor.cpp +++ b/gtsam/linear/HessianFactor.cpp @@ -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(jointFactor->keys(), keys.size(), Ab); + size_t numberOfKeysToEliminate = keys.size(); + VerticalBlockMatrix Ab = jointFactor->info_.choleskyPartial(numberOfKeysToEliminate); + conditional = boost::make_shared(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()); }