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Always do BOOST_FOREACH with a reference if you can! In this case, made a noticeable difference in performance by avoiding hundreds of thousands of mallocs.

release/4.3a0
Frank Dellaert 2010-03-11 21:40:56 +00:00
parent 84c25b2346
commit 1cba03a490
3 changed files with 6 additions and 9 deletions
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6
cpp/FactorGraph-inl.h
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@ -29,10 +29,6 @@
/*template boost::shared_ptr<F> removeAndCombineFactors(FactorGraph<F>&, const std::string&);*/ \ /*template boost::shared_ptr<F> removeAndCombineFactors(FactorGraph<F>&, const std::string&);*/ \
template FactorGraph<F> combine(const FactorGraph<F>&, const FactorGraph<F>&); template FactorGraph<F> combine(const FactorGraph<F>&, const FactorGraph<F>&);
// trick from some reading group
#define FOREACH_PAIR( KEY, VAL, COL) BOOST_FOREACH (boost::tie(KEY,VAL),COL)
using namespace std; using namespace std;
namespace gtsam { namespace gtsam {
@ -340,7 +336,7 @@ PredecessorMap<Key> FactorGraph<Factor>::findMinimumSpanningTree() const {
template<class Factor> template <class Key, class Factor2> template<class Factor> template <class Key, class Factor2>
void FactorGraph<Factor>::split(const PredecessorMap<Key>& tree, FactorGraph<Factor>& Ab1, FactorGraph<Factor>& Ab2) const{ void FactorGraph<Factor>::split(const PredecessorMap<Key>& tree, FactorGraph<Factor>& Ab1, FactorGraph<Factor>& Ab2) const{
BOOST_FOREACH(sharedFactor factor, factors_){ BOOST_FOREACH(const sharedFactor& factor, factors_){
if (factor->keys().size() > 2) if (factor->keys().size() > 2)
throw(invalid_argument("split: only support factors with at most two keys")); throw(invalid_argument("split: only support factors with at most two keys"));

7
cpp/NonlinearFactorGraph-inl.h
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@ -25,7 +25,7 @@ namespace gtsam {
template<class Config> template<class Config>
Vector NonlinearFactorGraph<Config>::unwhitenedError(const Config& c) const { Vector NonlinearFactorGraph<Config>::unwhitenedError(const Config& c) const {
list<Vector> errors; list<Vector> errors;
BOOST_FOREACH(typename NonlinearFactorGraph<Config>::sharedFactor factor, this->factors_) BOOST_FOREACH(const sharedFactor& factor, this->factors_)
errors.push_back(factor->unwhitenedError(c)); errors.push_back(factor->unwhitenedError(c));
return concatVectors(errors); return concatVectors(errors);
} }
@ -35,7 +35,7 @@ namespace gtsam {
double NonlinearFactorGraph<Config>::error(const Config& c) const { double NonlinearFactorGraph<Config>::error(const Config& c) const {
double total_error = 0.; double total_error = 0.;
// iterate over all the factors_ to accumulate the log probabilities // iterate over all the factors_ to accumulate the log probabilities
BOOST_FOREACH(typename NonlinearFactorGraph<Config>::sharedFactor factor, this->factors_) BOOST_FOREACH(const sharedFactor& factor, this->factors_)
total_error += factor->error(c); total_error += factor->error(c);
return total_error; return total_error;
} }
@ -49,8 +49,7 @@ namespace gtsam {
boost::shared_ptr<GaussianFactorGraph> linearFG(new GaussianFactorGraph); boost::shared_ptr<GaussianFactorGraph> linearFG(new GaussianFactorGraph);
// linearize all factors // linearize all factors
typedef typename NonlinearFactorGraph<Config>::sharedFactor Factor; BOOST_FOREACH(const sharedFactor& factor, this->factors_) {
BOOST_FOREACH(const Factor& factor, this->factors_) {
boost::shared_ptr<GaussianFactor> lf = factor->linearize(config); boost::shared_ptr<GaussianFactor> lf = factor->linearize(config);
linearFG->push_back(lf); linearFG->push_back(lf);
} }

2
cpp/NonlinearFactorGraph.h
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@ -30,6 +30,8 @@ namespace gtsam {
public: public:
typedef typename boost::shared_ptr<NonlinearFactor<Config> > sharedFactor;
/** unnormalized error */ /** unnormalized error */
double error(const Config& c) const; double error(const Config& c) const;