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No longer should permute JacobianFactor to sort keys when converting from HessianFactor

release/4.3a0
Richard Roberts 2012-08-22 22:40:30 +00:00
parent 1dbda3f7ed
commit dc884edceb
1 changed files with 0 additions and 15 deletions
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15
gtsam/linear/JacobianFactor.cpp
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@ -208,21 +208,6 @@ namespace gtsam {
firstNonzeroBlocks_.resize(this->rows(), 0);
// Sort keys
set<Index> vars;
for(size_t j=0; j<size(); ++j)
vars.insert(keys_[j]);
Permutation permutation(Permutation::Identity(*vars.rbegin() + 1));
size_t jNew = 0;
BOOST_FOREACH(const Index& var, vars) {
permutation[var] = jNew++;
}
permuteWithInverse(permutation);
jNew = 0;
BOOST_FOREACH(const Index& var, vars) {
keys_[jNew++] = var;
}
assertInvariants();
}