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Bug fix in ISAM2 wildfire function

release/4.3a0
Richard Roberts 2011-08-29 21:00:48 +00:00
parent f45b1556ca
commit d4dbf12f8b
1 changed files with 2 additions and 2 deletions
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4
gtsam/nonlinear/GaussianISAM2.cpp
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@ -36,8 +36,8 @@ void optimize2(const GaussianISAM2::sharedClique& clique, double threshold,
// If not redone, then has one of the separator variables changed significantly? // If not redone, then has one of the separator variables changed significantly?
bool recalculate = cliqueReplaced; bool recalculate = cliqueReplaced;
if(!recalculate) { if(!recalculate) {
BOOST_FOREACH(Index frontal, (*clique)->frontals()) { BOOST_FOREACH(Index parent, (*clique)->parents()) {
if(changed[frontal]) { if(changed[parent]) {
recalculate = true; recalculate = true;
break; break;
} }