Marginalize nodes during lifelong mapping

Signed-off-by: Michel Hidalgo <[email protected]>
ekumenlabs · Dec 30, 2021 · 8e3880f · 8e3880f
1 parent 07b0cb4
commit 8e3880f
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/src/experimental/slam_toolbox_lifelong.cpp b/src/experimental/slam_toolbox_lifelong.cpp
@@ -298,14 +298,12 @@ void LifelongSlamToolbox::removeFromSlamGraph(
   Vertex<LocalizedRangeScan> * vertex)
 /*****************************************************************************/
 {
-  smapper_->getMapper()->RemoveNodeFromGraph(vertex);
+  smapper_->getMapper()->MarginalizeNodeFromGraph(vertex);
   smapper_->getMapper()->GetMapperSensorManager()->RemoveScan(
     vertex->GetObject());
   dataset_->RemoveData(vertex->GetObject());
   vertex->RemoveObject();
   delete vertex;
-  vertex = nullptr;
-  // LTS what do we do about the contraints that node had about it?Nothing?Transfer?
 }
 
 /*****************************************************************************/