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Bug fix in ISAM2

release/4.3a0
Richard Roberts 2013-08-11 19:26:21 +00:00
parent ea3ca54cba
commit d4e4705fcd
1 changed files with 2 additions and 2 deletions
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4
gtsam/nonlinear/ISAM2-impl.cpp
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@ -68,7 +68,7 @@ FastSet<Index> ISAM2::Impl::CheckRelinearizationFull(const VectorValues& delta,
{
FastSet<Index> relinKeys;
if(const double* threshold = boost::get<const double*>(relinearizeThreshold))
if(const double* threshold = boost::get<double>(&relinearizeThreshold))
{
BOOST_FOREACH(const VectorValues::KeyValuePair& key_delta, delta) {
double maxDelta = key_delta.second.lpNorm<Eigen::Infinity>();
@ -76,7 +76,7 @@ FastSet<Index> ISAM2::Impl::CheckRelinearizationFull(const VectorValues& delta,
relinKeys.insert(key_delta.first);
}
}
else if(const FastMap<char,Vector>* thresholds = boost::get<const FastMap<char,Vector>*>(relinearizeThreshold))
else if(const FastMap<char,Vector>* thresholds = boost::get<FastMap<char,Vector> >(&relinearizeThreshold))
{
BOOST_FOREACH(const VectorValues::KeyValuePair& key_delta, delta) {
const Vector& threshold = thresholds->find(Symbol(key_delta.first).chr())->second;