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Bug fix in Hessian combine constructor

release/4.3a0
Richard Roberts 2013-08-06 16:10:10 +00:00
parent 8bd19e5ef8
commit 972695da3a
1 changed files with 3 additions and 2 deletions
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5
gtsam/linear/HessianFactor.cpp
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@ -281,7 +281,8 @@ HessianFactor::HessianFactor(const GaussianFactorGraph& factors,
info_ = SymmetricBlockMatrix(dims); info_ = SymmetricBlockMatrix(dims);
info_.full().setZero(); info_.full().setZero();
keys_.resize(scatter->size()); keys_.resize(scatter->size());
br::copy(*scatter | br::map_keys, keys_.begin()); BOOST_FOREACH(const Scatter::value_type& key_slotentry, *scatter)
keys_[key_slotentry.second.slot] = key_slotentry.first;
gttoc(allocate); gttoc(allocate);
// Form A' * A // Form A' * A
@ -374,7 +375,7 @@ void HessianFactor::updateATA(const HessianFactor& update, const Scatter& scatte
vector<DenseIndex> slots(update.size()); vector<DenseIndex> slots(update.size());
DenseIndex slot = 0; DenseIndex slot = 0;
BOOST_FOREACH(Key j, update) { BOOST_FOREACH(Key j, update) {
slots[slot] = scatter.find(j)->second.slot; slots[slot] = scatter.at(j).slot;
++ slot; ++ slot;
} }
gttoc(slots); gttoc(slots);