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Fixed failing retract unit test in Values

release/4.3a0
Alex Cunningham 2013-08-08 17:14:59 +00:00
parent db47948a20
commit b05748683c
1 changed files with 9 additions and 3 deletions
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12
gtsam/nonlinear/Values.cpp
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@ -82,10 +82,16 @@ namespace gtsam {
Values result;
for(const_iterator key_value = begin(); key_value != end(); ++key_value) {
const Vector& singleDelta = delta[key_value->key]; // Delta for this value
VectorValues::const_iterator vector_item = delta.find(key_value->key);
Key key = key_value->key; // Non-const duplicate to deal with non-const insert argument
Value* retractedValue(key_value->value.retract_(singleDelta)); // Retract
result.values_.insert(key, retractedValue); // Add retracted result directly to result values
if(vector_item != delta.end()) {
// const Vector& singleDelta = delta[key_value->key]; // Delta for this value
const Vector& singleDelta = vector_item->second;
Value* retractedValue(key_value->value.retract_(singleDelta)); // Retract
result.values_.insert(key, retractedValue); // Add retracted result directly to result values
} else {
result.values_.insert(key, key_value->value.clone_()); // Add original version to result values
}
}
return result;