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optimize push_back function

release/4.3a0
Kai Ni 2010-05-08 20:11:04 +00:00
parent d2d51d9f68
commit 2d80c7c1cd
2 changed files with 5 additions and 15 deletions
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18
cpp/FactorGraph-inl.h
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@ -291,22 +291,12 @@ FactorGraph<Factor>::findAndRemoveFactors(const Symbol& key) {
/* ************************************************************************* */
template<class Factor>
void FactorGraph<Factor>::associateFactor(int index, sharedFactor factor) {
list<Symbol> keys = factor->keys(); // get keys for factor
void FactorGraph<Factor>::associateFactor(int index, const sharedFactor& factor) {
const list<Symbol> keys = factor->keys(); // get keys for factor
// rtodo: Can optimize factor->keys to return a const reference
BOOST_FOREACH(const Symbol& key, keys){ // for each key push i onto list
Indices::iterator it = indices_.find(key); // old list for that key (if exists)
if (it==indices_.end()){ // there's no list yet
list<int> indices(1,index); // so make one
indices_.insert(make_pair(key,indices)); // insert new indices into factorMap
}
else {
// rtodo: what is going on with this pointer?
list<int> *indices_ptr = &(it->second); // get the list
indices_ptr->push_back(index); // add the index i to it
}
}
BOOST_FOREACH(const Symbol& key, keys) // for each key push i onto list
indices_[key].push_back(index);
}
/* ************************************************************************* */

2
cpp/FactorGraph.h
View File

@ -147,7 +147,7 @@ namespace gtsam {
private:
/** Associate factor index with the variables connected to the factor */
void associateFactor(int index, sharedFactor factor);
void associateFactor(int index, const sharedFactor& factor);
/** Serialization function */
friend class boost::serialization::access;