From 254e3128e6d199508215ec71cb8626fdadafc45f Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Tue, 20 Jun 2023 17:28:01 -0400
Subject: [PATCH] fix for multiply defined symbol error in LPInitSolver

---
 gtsam_unstable/linear/LP.h | 20 +++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/gtsam_unstable/linear/LP.h b/gtsam_unstable/linear/LP.h
index dbb744d3e..50065b2dd 100644
--- a/gtsam_unstable/linear/LP.h
+++ b/gtsam_unstable/linear/LP.h
@@ -81,9 +81,23 @@ public:
     if (!cachedConstrainedKeyDimMap_.empty())
       return cachedConstrainedKeyDimMap_;
     // Collect key-dim map of all variables in the constraints
-    cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
-    KeyDimMap keysDim2 = collectKeyDim(inequalities);
-    cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
+    //TODO(Varun) seems like the templated function is causing the multiple symbols error on Windows
+    // cachedConstrainedKeyDimMap_ = collectKeyDim(equalities);
+    // KeyDimMap keysDim2 = collectKeyDim(inequalities);
+    // cachedConstrainedKeyDimMap_.insert(keysDim2.begin(), keysDim2.end());
+    cachedConstrainedKeyDimMap_.clear();
+    for (auto&& factor : equalities) {
+      if (!factor) continue;
+      for (Key key : factor->keys()) {
+        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
+      }
+    }
+    for (auto&& factor : inequalities) {
+      if (!factor) continue;
+      for (Key key : factor->keys()) {
+        cachedConstrainedKeyDimMap_[key] = factor->getDim(factor->find(key));
+      }
+    }
     return cachedConstrainedKeyDimMap_;
   }