Address some comments

borglab · Jul 30, 2023 · 7d4c2a1 · 7d4c2a1
1 parent e7f52b0
commit 7d4c2a1
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/gtsam/nonlinear/ExtendedKalmanFilter-inl.h b/gtsam/nonlinear/ExtendedKalmanFilter-inl.h
@@ -82,16 +82,17 @@ namespace gtsam {
     const auto keys = motionFactor.keys();
 
     // Create a Gaussian Factor Graph
-    GaussianFactorGraph::shared_ptr linearFactorGraph = boost::make_shared<GaussianFactorGraph>();
+    GaussianFactorGraph::shared_ptr linearFactorGraph = std::make_shared<GaussianFactorGraph>();
 
     // Add in previous posterior as prior on the first state
     linearFactorGraph->push_back(priorFactor_);
 
     // Linearize motion model and add it to the Kalman Filter graph
     Values linearizationPoint;
 
+    // If we have already run once
     if (lastLinearization != nullptr) {
-      auto new_prior = boost::make_shared<JacobianFactor>(*priorFactor_);
+      auto new_prior = std::make_shared<JacobianFactor>(*priorFactor_);
       new_prior->keys()[0] = lastLinearizationPointKey;
 
       Values lastLinearizationPoint;