From 59d549dae2443b6513cc28308e1748f6c2131500 Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Wed, 3 Jul 2013 21:55:30 +0000
Subject: [PATCH] Fixed indexing problem in KalmanFilter - linear variable
 index was incremented, resulting in allocating larger and larger data
 structures with each step.  Now shifting indices back to 0 each step.

---
 gtsam.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/gtsam.h b/gtsam.h
index ee069e0d3..ddcb5a368 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1545,7 +1545,6 @@ class KalmanFilter {
   // gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0);
   gtsam::GaussianDensity* init(Vector x0, Matrix P0);
   void print(string s) const;
-  static size_t step(gtsam::GaussianDensity* p);
   gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F,
       Matrix B, Vector u, const gtsam::noiseModel::Diagonal* modelQ);
   gtsam::GaussianDensity* predictQ(gtsam::GaussianDensity* p, Matrix F,