From 6ab49e95da1cb57e8f429a5812911cbc5a05d56a Mon Sep 17 00:00:00 2001 From: Vadim Indelman Date: Fri, 23 Aug 2013 18:12:59 +0000 Subject: [PATCH] Added cref_list_of. --- gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h index 621edf5de..3e2de385b 100644 --- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h +++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h @@ -79,7 +79,7 @@ namespace gtsam { const gtsam::Values valA, const gtsam::Values valB, const SharedGaussian& model_inlier, const SharedGaussian& model_outlier, const double prior_inlier, const double prior_outlier) : - Base(key), key_(key), measured_(measured), keyA_(keyA), keyB_(keyB), + Base(cref_list_of<1>(key)), key_(key), measured_(measured), keyA_(keyA), keyB_(keyB), model_inlier_(model_inlier), model_outlier_(model_outlier), prior_inlier_(prior_inlier), prior_outlier_(prior_outlier), flag_bump_up_near_zero_probs_(false){ @@ -156,7 +156,7 @@ namespace gtsam { * Hence \f$ b = z - h(x) = - \mathtt{error\_vector}(x) \f$ */ /* This version of linearize recalculates the noise model each time */ - virtual boost::shared_ptr linearize(const gtsam::Values& x, const gtsam::Ordering& ordering) const { + virtual boost::shared_ptr linearize(const gtsam::Values& x) const { // Only linearize if the factor is active if (!this->active(x)) return boost::shared_ptr(); @@ -168,7 +168,7 @@ namespace gtsam { A1 = A[0]; return gtsam::GaussianFactor::shared_ptr( - new gtsam::JacobianFactor(ordering[key_], A1, b, gtsam::noiseModel::Unit::Create(b.size()))); + new gtsam::JacobianFactor(key_, A1, b, gtsam::noiseModel::Unit::Create(b.size()))); }