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Deal w linearizationMode in print and equals

release/4.3a0
dellaert 2015-03-10 14:44:02 -07:00
parent c177ca63ec
commit 37f0c45716
1 changed files with 2 additions and 1 deletions
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3
gtsam/slam/SmartProjectionFactor.h
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@ -135,6 +135,7 @@ public:
void print(const std::string& s = "", const KeyFormatter& keyFormatter = void print(const std::string& s = "", const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const { DefaultKeyFormatter) const {
std::cout << s << "SmartProjectionFactor\n"; std::cout << s << "SmartProjectionFactor\n";
std::cout << "linearizationMode:\n" << linearizeTo_ << std::endl;
std::cout << "triangulationParameters:\n" << parameters_ << std::endl; std::cout << "triangulationParameters:\n" << parameters_ << std::endl;
std::cout << "result:\n" << result_ << std::endl; std::cout << "result:\n" << result_ << std::endl;
Base::print("", keyFormatter); Base::print("", keyFormatter);
@ -143,7 +144,7 @@ public:
/// equals /// equals
virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const { virtual bool equals(const NonlinearFactor& p, double tol = 1e-9) const {
const This *e = dynamic_cast<const This*>(&p); const This *e = dynamic_cast<const This*>(&p);
return e && Base::equals(p, tol); return e && linearizeTo_==e->linearizeTo_ && Base::equals(p, tol);
} }
/// Check if the new linearization point is the same as the one used for previous triangulation /// Check if the new linearization point is the same as the one used for previous triangulation