12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/nonlinear/ISAM2-impl.cpp
View File

@ -68,7 +68,7 @@ FastSet<Index> ISAM2::Impl::CheckRelinearizationFull(const VectorValues& delta,
{ {
FastSet<Index> relinKeys; 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) { BOOST_FOREACH(const VectorValues::KeyValuePair& key_delta, delta) {
double maxDelta = key_delta.second.lpNorm<Eigen::Infinity>(); 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); 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) { BOOST_FOREACH(const VectorValues::KeyValuePair& key_delta, delta) {
const Vector& threshold = thresholds->find(Symbol(key_delta.first).chr())->second; const Vector& threshold = thresholds->find(Symbol(key_delta.first).chr())->second;