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NonlinearFactorGraph::linearize returns GaussianFactorGraph instead of FactorGraph<GaussianFactor>

release/4.3a0
Richard Roberts 2011-10-26 02:11:00 +00:00
parent c120ee93f6
commit e1c984f2b4
2 changed files with 3 additions and 3 deletions
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4
gtsam/nonlinear/NonlinearFactorGraph-inl.h
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@ -125,11 +125,11 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
template<class VALUES> template<class VALUES>
typename FactorGraph<GaussianFactor>::shared_ptr NonlinearFactorGraph<VALUES>::linearize( typename GaussianFactorGraph::shared_ptr NonlinearFactorGraph<VALUES>::linearize(
const VALUES& config, const Ordering& ordering) const { const VALUES& config, const Ordering& ordering) const {
// create an empty linear FG // create an empty linear FG
typename FactorGraph<GaussianFactor>::shared_ptr linearFG(new FactorGraph<GaussianFactor>); typename GaussianFactorGraph::shared_ptr linearFG(new GaussianFactorGraph);
linearFG->reserve(this->size()); linearFG->reserve(this->size());
// linearize all factors // linearize all factors

2
gtsam/nonlinear/NonlinearFactorGraph.h
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@ -85,7 +85,7 @@ namespace gtsam {
/** /**
* linearize a nonlinear factor graph * linearize a nonlinear factor graph
*/ */
boost::shared_ptr<FactorGraph<GaussianFactor> > boost::shared_ptr<GaussianFactorGraph >
linearize(const VALUES& config, const Ordering& ordering) const; linearize(const VALUES& config, const Ordering& ordering) const;
private: private: