From b823354e4488373f643742c3cb7fc72a12b148a9 Mon Sep 17 00:00:00 2001 From: Richard Roberts Date: Tue, 6 Aug 2013 18:21:54 +0000 Subject: [PATCH] Exclude null factors from remaining factors when building elimination tree --- gtsam/inference/EliminationTree-inst.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/inference/EliminationTree-inst.h b/gtsam/inference/EliminationTree-inst.h index 1ce98a435..d8791d1ba 100644 --- a/gtsam/inference/EliminationTree-inst.h +++ b/gtsam/inference/EliminationTree-inst.h @@ -149,9 +149,9 @@ namespace gtsam { if(parents[j] == none) roots_.push_back(nodes[j]); - // Gather remaining factors + // Gather remaining factors (exclude null factors) for(size_t i = 0; i < m; ++i) - if(!factorUsed[i]) + if(!factorUsed[i] && graph[i]) remainingFactors_.push_back(graph[i]); }