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Small cleanup

release/4.3a0
Richard Roberts 2013-11-12 17:02:46 +00:00
parent 9a1d1f01bc
commit efc5ea8dce
1 changed files with 5 additions and 7 deletions
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12
gtsam/nonlinear/ISAM2.cpp
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@ -710,16 +710,14 @@ ISAM2Result ISAM2::update(
linearFactors_.push_back(*linearFactors); linearFactors_.push_back(*linearFactors);
assert(nonlinearFactors_.size() == linearFactors_.size()); assert(nonlinearFactors_.size() == linearFactors_.size());
gttoc(linearize); gttoc(linearize);
gttic(augment_VI);
// Augment the variable index with the new factors
variableIndex_.augment(*linearFactors); // TODO: move this to a better place now
gttoc(augment_VI);
} else {
variableIndex_.augment(newFactors);
} }
gttoc(linearize_new); gttoc(linearize_new);
gttic(augment_VI);
// Augment the variable index with the new factors
variableIndex_.augment(newFactors);
gttoc(augment_VI);
gttic(recalculate); gttic(recalculate);
// 8. Redo top of Bayes tree // 8. Redo top of Bayes tree
boost::shared_ptr<FastSet<Key> > replacedKeys; boost::shared_ptr<FastSet<Key> > replacedKeys;