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Mark current clique affected. #1639

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Mark current clique affected. #1639

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df436f3
Mark current clique affected.
rikba Sep 19, 2023
aceac22
simplify
rikba Sep 19, 2023
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4 changes: 4 additions & 0 deletions gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,6 +118,10 @@ FixedLagSmoother::Result IncrementalFixedLagSmoother::update(
std::set<Key> additionalKeys;
for(Key key: marginalizableKeys) {
ISAM2Clique::shared_ptr clique = isam_[key];
// Mark all frontal keys of the current clique.
additionalKeys.insert(clique->conditional()->frontals().begin(),
clique->conditional()->frontals().end());
// Recursively mark all of the children key that contain the marginal key.
for(const ISAM2Clique::shared_ptr& child: clique->children) {
recursiveMarkAffectedKeys(key, child, additionalKeys);
}
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