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fix default parameters in constructor of IncrementalFixedLagSmoother.h

release/4.3a0
duyanwei 2019-10-17 21:32:21 +08:00
parent 6ef7b48d68
commit dcb82920ea
1 changed files with 10 additions and 2 deletions
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12
gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
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@ -39,8 +39,8 @@ public:
/** default constructor */ /** default constructor */
IncrementalFixedLagSmoother(double smootherLag = 0.0, IncrementalFixedLagSmoother(double smootherLag = 0.0,
const ISAM2Params& parameters = ISAM2Params()) : const boost::optional<ISAM2Params>& parameters = boost::none) :
FixedLagSmoother(smootherLag), isam_(parameters) { FixedLagSmoother(smootherLag), isam_(parameters ? (*parameters) : getDefaultParams()) {
} }
/** destructor */ /** destructor */
@ -114,6 +114,14 @@ public:
const ISAM2Result& getISAM2Result() const{ return isamResult_; } const ISAM2Result& getISAM2Result() const{ return isamResult_; }
protected: protected:
/* Create default parameters */
ISAM2Params getDefaultParams() const {
ISAM2Params params;
params.findUnusedFactorSlots = true;
return params;
}
/** An iSAM2 object used to perform inference. The smoother lag is controlled /** An iSAM2 object used to perform inference. The smoother lag is controlled
* by what factors are removed each iteration */ * by what factors are removed each iteration */
ISAM2 isam_; ISAM2 isam_;