From 7243a9870be26188c19a3d7b507f6ccb308ea47c Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Mon, 9 Apr 2012 13:21:16 +0000
Subject: [PATCH] Using vector::assign instead of erase in
 JacobianFactor::eliminate, caused invalid iterator on some STL
 implementations

---
 gtsam/linear/JacobianFactor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index 1f9dca77b..c48a62431 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -474,7 +474,7 @@ namespace gtsam {
     tic(4, "remaining factor");
     // Take lower-right block of Ab to get the new factor
     Ab_.rowEnd() = noiseModel->dim();
-    keys_.assign(begin() + nrFrontals, end());
+    keys_.erase(begin(), begin() + nrFrontals);
     // Set sigmas with the right model
     if (noiseModel->isConstrained())
       model_ = noiseModel::Constrained::MixedSigmas(sub(noiseModel->sigmas(), frontalDim, noiseModel->dim()));