misleading Key -> FactorIndex
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a6901cdfcf
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c01134e4a5
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@ -139,7 +139,7 @@ GaussianFactorGraph::shared_ptr ISAM2::relinearizeAffectedFactors(
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gttic(check_candidates_and_linearize);
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auto linearized = boost::make_shared<GaussianFactorGraph>();
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for (Key idx : candidates) {
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for (const FactorIndex idx : candidates) {
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bool inside = true;
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bool useCachedLinear = params_.cacheLinearizedFactors;
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for (Key key : nonlinearFactors_[idx]->keys()) {
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