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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.

release/4.3a0
Richard Roberts 2013-07-03 21:55:30 +00:00
parent 7f08cf6ba1
commit 59d549dae2
1 changed files with 0 additions and 1 deletions
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gtsam.h
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@ -1545,7 +1545,6 @@ class KalmanFilter {
// gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0); // gtsam::GaussianDensity* init(Vector x0, const gtsam::SharedDiagonal& P0);
gtsam::GaussianDensity* init(Vector x0, Matrix P0); gtsam::GaussianDensity* init(Vector x0, Matrix P0);
void print(string s) const; void print(string s) const;
static size_t step(gtsam::GaussianDensity* p);
gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F, gtsam::GaussianDensity* predict(gtsam::GaussianDensity* p, Matrix F,
Matrix B, Vector u, const gtsam::noiseModel::Diagonal* modelQ); Matrix B, Vector u, const gtsam::noiseModel::Diagonal* modelQ);
gtsam::GaussianDensity* predictQ(gtsam::GaussianDensity* p, Matrix F, gtsam::GaussianDensity* predictQ(gtsam::GaussianDensity* p, Matrix F,