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Fixed initialization bug

release/4.3a0
Alex Cunningham 2012-09-03 17:22:09 +00:00
parent 3522d09c4e
commit d3b5c463ed
2 changed files with 10 additions and 2 deletions
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9
gtsam_unstable/nonlinear/LinearContainerFactor.cpp
View File

@ -38,6 +38,15 @@ void LinearContainerFactor::initializeLinearizationPoint(const Values& lineariza
} }
} }
/* ************************************************************************* */
LinearContainerFactor::LinearContainerFactor(const GaussianFactor::shared_ptr& factor,
const boost::optional<Values>& linearizationPoint)
: factor_(factor), linearizationPoint_(linearizationPoint) {
// Extract keys stashed in linear factor
BOOST_FOREACH(const Index& idx, factor_->keys())
keys_.push_back(idx);
}
/* ************************************************************************* */ /* ************************************************************************* */
LinearContainerFactor::LinearContainerFactor( LinearContainerFactor::LinearContainerFactor(
const JacobianFactor& factor, const Ordering& ordering, const JacobianFactor& factor, const Ordering& ordering,

3
gtsam_unstable/nonlinear/LinearContainerFactor.h
View File

@ -25,8 +25,7 @@ protected:
/** direct copy constructor */ /** direct copy constructor */
LinearContainerFactor(const GaussianFactor::shared_ptr& factor, LinearContainerFactor(const GaussianFactor::shared_ptr& factor,
const boost::optional<Values>& linearizationPoint) const boost::optional<Values>& linearizationPoint);
: factor_(factor), linearizationPoint_(linearizationPoint) {}
public: public: