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'push_back' entire factor graph instead of individual 'factors'

release/4.3a0
Ankur Roy Chowdhury 2023-03-06 14:58:50 -08:00
parent e075f18011
commit fac3590994
1 changed files with 3 additions and 5 deletions
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8
gtsam/hybrid/HybridSmoother.cpp
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@ -27,9 +27,8 @@ namespace gtsam {
Ordering HybridSmoother::getOrdering( Ordering HybridSmoother::getOrdering(
const HybridGaussianFactorGraph &newFactors) { const HybridGaussianFactorGraph &newFactors) {
HybridGaussianFactorGraph factors(hybridBayesNet()); HybridGaussianFactorGraph factors(hybridBayesNet());
for(auto& factor: newFactors){ factors.push_back(newFactors);
factors.push_back(factor);
}
// Get all the discrete keys from the factors // Get all the discrete keys from the factors
KeySet allDiscrete = factors.discreteKeySet(); KeySet allDiscrete = factors.discreteKeySet();
@ -74,8 +73,7 @@ void HybridSmoother::update(HybridGaussianFactorGraph graph,
HybridBayesNet prunedBayesNetFragment = HybridBayesNet prunedBayesNetFragment =
bayesNetFragment->prune(*maxNrLeaves); bayesNetFragment->prune(*maxNrLeaves);
// Set the bayes net fragment to the pruned version // Set the bayes net fragment to the pruned version
bayesNetFragment = bayesNetFragment = std::make_shared<HybridBayesNet>(prunedBayesNetFragment);
std::make_shared<HybridBayesNet>(prunedBayesNetFragment);
} }
// Add the partial bayes net to the posterior bayes net. // Add the partial bayes net to the posterior bayes net.