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Fixed double map lookup

release/4.3a0
Richard Roberts 2010-01-12 16:11:24 +00:00
parent 769763a35d
commit bea55b5f5b
1 changed files with 7 additions and 3 deletions
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10
cpp/BetweenFactor.h
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@ -63,14 +63,18 @@ namespace gtsam {
/** implement functions needed to derive from Factor */ /** implement functions needed to derive from Factor */
/** vector of errors */ /** vector of errors */
Vector error_vector(const Config& x) const { Vector error_vector(const T& p1, const T& p2) const {
//z-h //z-h
const T& p1 = x.get(key1_), p2 = x.get(key2_);
T hx = between(p1,p2); T hx = between(p1,p2);
// manifold equivalent of z-h(x) -> log(h(x),z) // manifold equivalent of z-h(x) -> log(h(x),z)
return square_root_inverse_covariance_ * logmap(hx,measured_); return square_root_inverse_covariance_ * logmap(hx,measured_);
} }
/** vector of errors */
Vector error_vector(const Config& c) const {
return error_vector(c.get(key1_), c.get(key2_));
}
/** methods to retrieve both keys */ /** methods to retrieve both keys */
inline const std::string& key1() const { return key1_;} inline const std::string& key1() const { return key1_;}
inline const std::string& key2() const { return key2_;} inline const std::string& key2() const { return key2_;}
@ -86,7 +90,7 @@ namespace gtsam {
const T& p1 = x0.get(key1_), p2 = x0.get(key2_); const T& p1 = x0.get(key1_), p2 = x0.get(key2_);
Matrix A1 = Dbetween1(p1, p2); Matrix A1 = Dbetween1(p1, p2);
Matrix A2 = Dbetween2(p1, p2); Matrix A2 = Dbetween2(p1, p2);
Vector b = error_vector(x0); // already has sigmas in ! Vector b = error_vector(p1, p2); // already has sigmas in !
boost::shared_ptr<GaussianFactor> linearized(new GaussianFactor( boost::shared_ptr<GaussianFactor> linearized(new GaussianFactor(
key1_, square_root_inverse_covariance_ * A1, key1_, square_root_inverse_covariance_ * A1,
key2_, square_root_inverse_covariance_ * A2, b, 1.0)); key2_, square_root_inverse_covariance_ * A2, b, 1.0));