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release/4.3a0
Richard Roberts 2013-02-24 19:09:51 +00:00
parent bb5198de79
commit 717fa5781b
2 changed files with 2 additions and 5 deletions
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3
gtsam/nonlinear/ISAM2.cpp
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@ -548,8 +548,7 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(const FastSet<Index>& mark
/* ************************************************************************* */ /* ************************************************************************* */
ISAM2Result ISAM2::update( ISAM2Result ISAM2::update(
const NonlinearFactorGraph& newFactors, const Values& newTheta, const FastVector<size_t>& removeFactorIndices, const NonlinearFactorGraph& newFactors, const Values& newTheta, const FastVector<size_t>& removeFactorIndices,
const boost::optional<FastMap<Key,int> >& constrainedKeys, const boost::optional<FastMap<Key,int> >& constrainedKeys, const boost::optional<FastList<Key> >& noRelinKeys, bool force_relinearize) {
const boost::optional<FastList<Key> >& noRelinKeys, bool force_relinearize) {
const bool debug = ISDEBUG("ISAM2 update"); const bool debug = ISDEBUG("ISAM2 update");
const bool verbose = ISDEBUG("ISAM2 update verbose"); const bool verbose = ISDEBUG("ISAM2 update verbose");

4
gtsam/nonlinear/ISAM2.h
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@ -485,9 +485,7 @@ protected:
mutable GaussianFactorGraph linearFactors_; mutable GaussianFactorGraph linearFactors_;
/** The current elimination ordering Symbols to Index (integer) keys. /** The current elimination ordering Symbols to Index (integer) keys.
* * We keep it up to date as we add and reorder variables. */
* We keep it up to date as we add and reorder variables.
*/
Ordering ordering_; Ordering ordering_;
/** The current parameters */ /** The current parameters */