Made new marginals with caching the default
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2841b8665f
commit
a06e8060ae
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@ -500,10 +500,10 @@ namespace gtsam {
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sharedClique clique = (*this)[j];
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sharedClique clique = (*this)[j];
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// calculate or retrieve its marginal P(C) = P(F,S)
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// calculate or retrieve its marginal P(C) = P(F,S)
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#ifdef MARGINAL2
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#ifdef OLD_SHORTCUT_MARGINALS
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FactorGraph<FactorType> cliqueMarginal = clique->marginal2(root_,function);
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#else
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FactorGraph<FactorType> cliqueMarginal = clique->marginal(root_,function);
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FactorGraph<FactorType> cliqueMarginal = clique->marginal(root_,function);
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#else
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FactorGraph<FactorType> cliqueMarginal = clique->marginal2(root_,function);
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#endif
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#endif
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// Reduce the variable indices to start at zero
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// Reduce the variable indices to start at zero
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