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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
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4
cpp/ISAM-inl.h
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@ -52,13 +52,13 @@ namespace gtsam {
// insert conditionals back in, straight into the topless bayesTree // insert conditionals back in, straight into the topless bayesTree
typename BayesNet<Conditional>::const_reverse_iterator rit; typename BayesNet<Conditional>::const_reverse_iterator rit;
for ( rit=bayesNet.rbegin(); rit != bayesNet.rend(); ++rit ) for ( rit=bayesNet.rbegin(); rit != bayesNet.rend(); ++rit )
this->insert(*rit); this->insert(*rit, &ordering);
int count = 0; int count = 0;
// add orphans to the bottom of the new tree // add orphans to the bottom of the new tree
BOOST_FOREACH(sharedClique orphan, orphans) { BOOST_FOREACH(sharedClique orphan, orphans) {
Symbol key = orphan->separator_.front(); Symbol key = findParentClique(orphan->separator_, ordering);
sharedClique parent = (*this)[key]; sharedClique parent = (*this)[key];
parent->children_ += orphan; parent->children_ += orphan;