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minor comment

release/4.3a0
Luca 2014-05-28 02:38:01 -04:00
parent de64d29e6a
commit cf7dd88916
1 changed files with 2 additions and 2 deletions
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4
gtsam/nonlinear/LagoInitializer.cpp
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@ -85,10 +85,10 @@ void getSymbolicGraph(
double deltaTheta = pose2Between->measured().theta(); double deltaTheta = pose2Between->measured().theta();
// insert (directed) orientations in the map "deltaThetaMap" // insert (directed) orientations in the map "deltaThetaMap"
bool inTree=false; bool inTree=false;
if(tree.at(key1)==key2){ if(tree.at(key1)==key2){ // key2 -> key1
deltaThetaMap.insert(std::pair<Key, double>(key1, -deltaTheta)); deltaThetaMap.insert(std::pair<Key, double>(key1, -deltaTheta));
inTree = true; inTree = true;
} else if(tree.at(key2)==key1){ } else if(tree.at(key2)==key1){ // key1 -> key2
deltaThetaMap.insert(std::pair<Key, double>(key2, deltaTheta)); deltaThetaMap.insert(std::pair<Key, double>(key2, deltaTheta));
inTree = true; inTree = true;
} }