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Fixed iSAM2 bug if back-substitution is triggered before the first elimination.

release/4.3a0
Stephen Williams 2012-03-14 15:49:16 +00:00
parent afd2f6902f
commit 51949ba614
1 changed files with 2 additions and 1 deletions
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gtsam/nonlinear/GaussianISAM2-inl.h
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@ -109,6 +109,7 @@ namespace gtsam {
vector<bool> changed(keys.size(), false); vector<bool> changed(keys.size(), false);
int count = 0; int count = 0;
// starting from the root, call optimize on each conditional // starting from the root, call optimize on each conditional
if(root)
internal::optimizeWildfire(root, threshold, changed, keys, delta, count); internal::optimizeWildfire(root, threshold, changed, keys, delta, count);
return count; return count;
} }