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linear algorithms

release/4.3a0
kartik arcot 2023-01-13 10:36:29 -08:00
parent 0d38db3941
commit d05d2af6b5
1 changed files with 4 additions and 3 deletions
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7
gtsam/linear/linearAlgorithms-inst.h
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@ -21,9 +21,10 @@
#include <gtsam/linear/GaussianConditional.h>
#include <gtsam/base/treeTraversal-inst.h>
#include <boost/optional.hpp>
#include <boost/shared_ptr.hpp>
#include <optional>
namespace gtsam
{
namespace internal
@ -32,7 +33,7 @@ namespace gtsam
{
/* ************************************************************************* */
struct OptimizeData {
boost::optional<OptimizeData&> parentData;
OptimizeData* parentData = nullptr;
FastMap<Key, VectorValues::const_iterator> cliqueResults;
//VectorValues ancestorResults;
//VectorValues results;
@ -55,7 +56,7 @@ namespace gtsam
OptimizeData& parentData)
{
OptimizeData myData;
myData.parentData = parentData;
myData.parentData = &parentData;
// Take any ancestor results we'll need
for(Key parent: clique->conditional_->parents())
myData.cliqueResults.emplace(parent, myData.parentData->cliqueResults.at(parent));