misleading Key -> FactorIndex
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				|  | @ -139,7 +139,7 @@ GaussianFactorGraph::shared_ptr ISAM2::relinearizeAffectedFactors( | |||
| 
 | ||||
|   gttic(check_candidates_and_linearize); | ||||
|   auto linearized = boost::make_shared<GaussianFactorGraph>(); | ||||
|   for (Key idx : candidates) { | ||||
|   for (const FactorIndex idx : candidates) { | ||||
|     bool inside = true; | ||||
|     bool useCachedLinear = params_.cacheLinearizedFactors; | ||||
|     for (Key key : nonlinearFactors_[idx]->keys()) { | ||||
|  |  | |||
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