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input/output convention

release/4.3a0
Frank Dellaert 2018-09-30 14:22:20 -04:00
parent d6edc217ab
commit 2fe2f1ad19
2 changed files with 10 additions and 10 deletions
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18
gtsam/nonlinear/ISAM2.cpp
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@ -199,7 +199,7 @@ boost::shared_ptr<KeySet> ISAM2::recalculate(
const KeySet& markedKeys, const KeySet& relinKeys,
const vector<Key>& observedKeys, const KeySet& unusedIndices,
const boost::optional<FastMap<Key, int> >& constrainKeys,
ISAM2Result& result) {
ISAM2Result* result) {
// TODO(dellaert): new factors are linearized twice,
// the newFactors passed in are not used.
@ -333,8 +333,8 @@ boost::shared_ptr<KeySet> ISAM2::recalculate(
this->nodes_.insert(bayesTree->nodes().begin(), bayesTree->nodes().end());
gttoc(insert);
result.variablesReeliminated = affectedKeysSet->size();
result.factorsRecalculated = nonlinearFactors_.size();
result->variablesReeliminated = affectedKeysSet->size();
result->factorsRecalculated = nonlinearFactors_.size();
lastAffectedMarkedCount = markedKeys.size();
lastAffectedVariableCount = affectedKeysSet->size();
@ -343,7 +343,7 @@ boost::shared_ptr<KeySet> ISAM2::recalculate(
// Reeliminated keys for detailed results
if (params_.enableDetailedResults) {
for (Key key : theta_.keys()) {
result.detail->variableStatus[key].isReeliminated = true;
result->detail->variableStatus[key].isReeliminated = true;
}
}
@ -375,12 +375,12 @@ boost::shared_ptr<KeySet> ISAM2::recalculate(
// Reeliminated keys for detailed results
if (params_.enableDetailedResults) {
for (Key key : affectedAndNewKeys) {
result.detail->variableStatus[key].isReeliminated = true;
result->detail->variableStatus[key].isReeliminated = true;
}
}
result.variablesReeliminated = affectedAndNewKeys.size();
result.factorsRecalculated = factors.size();
result->variablesReeliminated = affectedAndNewKeys.size();
result->factorsRecalculated = factors.size();
lastAffectedMarkedCount = markedKeys.size();
lastAffectedVariableCount = affectedKeys.size();
lastAffectedFactorCount = factors.size();
@ -479,7 +479,7 @@ boost::shared_ptr<KeySet> ISAM2::recalculate(
if (params_.enableDetailedResults) {
for (const sharedNode& root : this->roots())
for (Key var : *root->conditional())
result.detail->variableStatus[var].inRootClique = true;
result->detail->variableStatus[var].inRootClique = true;
}
return affectedKeysSet;
@ -786,7 +786,7 @@ ISAM2Result ISAM2::update(
boost::shared_ptr<KeySet> replacedKeys;
if (!markedKeys.empty() || !observedKeys.empty())
replacedKeys = recalculate(markedKeys, relinKeys, observedKeys,
unusedIndices, constrainedKeys, result);
unusedIndices, constrainedKeys, &result);
// Update replaced keys mask (accumulates until back-substitution takes place)
if (replacedKeys)

2
gtsam/nonlinear/ISAM2.h
View File

@ -301,7 +301,7 @@ class GTSAM_EXPORT ISAM2 : public BayesTree<ISAM2Clique> {
const KeySet& markedKeys, const KeySet& relinKeys,
const std::vector<Key>& observedKeys, const KeySet& unusedIndices,
const boost::optional<FastMap<Key, int> >& constrainKeys,
ISAM2Result& result);
ISAM2Result* result);
void updateDelta(bool forceFullSolve = false) const;
}; // ISAM2