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if (enforceConsistency_ && (linearValues_.size() > 0)) {
theta_.update(linearValues_);
for(constauto key: linearValues_.keys()) {
delta_.at(key) = newDelta.at(key);
}
}
It seems that the above lines are trying maintaining the consistency (First Estimate Jacobian) of the smoother, but the linearValues_ are set nowhere, so actually the above lines won't be reached ever. Is this a bug or the consistency is handled elsewhere?
The text was updated successfully, but these errors were encountered:
gtsam/gtsam/nonlinear/BatchFixedLagSmoother.cpp
Lines 268 to 273 in 23f4282
It seems that the above lines are trying maintaining the consistency (First Estimate Jacobian) of the smoother, but the
linearValues_
are set nowhere, so actually the above lines won't be reached ever. Is this a bug or the consistency is handled elsewhere?The text was updated successfully, but these errors were encountered: