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

same bug fix as in ISAM2

release/4.3a0
Michael Kaess 2010-01-20 03:54:20 +00:00
parent 55e414cbdd
commit e767996b45
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
cpp/ISAM-inl.h
View File

@ -52,13 +52,13 @@ namespace gtsam {
// insert conditionals back in, straight into the topless bayesTree
typename BayesNet<Conditional>::const_reverse_iterator rit;
for ( rit=bayesNet.rbegin(); rit != bayesNet.rend(); ++rit )
this->insert(*rit);
this->insert(*rit, &ordering);
int count = 0;
// add orphans to the bottom of the new tree
BOOST_FOREACH(sharedClique orphan, orphans) {
Symbol key = orphan->separator_.front();
Symbol key = findParentClique(orphan->separator_, ordering);
sharedClique parent = (*this)[key];
parent->children_ += orphan;