simplify

borglab · Sep 19, 2023 · aceac22 · aceac22
1 parent df436f3
commit aceac22
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.cpp
@@ -119,9 +119,8 @@ FixedLagSmoother::Result IncrementalFixedLagSmoother::update(
   for(Key key: marginalizableKeys) {
     ISAM2Clique::shared_ptr clique = isam_[key];
     // Mark all frontal keys of the current clique.
-    for(Key i: clique->conditional()->frontals()) {
-      additionalKeys.insert(i);
-    }
+    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);