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remove need for std:: namespace

release/4.3a0
Varun Agrawal 2025-02-06 16:45:42 -05:00
parent 5480449445
commit 2fefb69d31
1 changed files with 11 additions and 10 deletions
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21
examples/ISAM2_City10000.cpp
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@ -20,6 +20,7 @@
#include <gtsam/geometry/Pose2.h> #include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/ISAM2.h> #include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/ISAM2Params.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h> #include <gtsam/nonlinear/Values.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
@ -32,9 +33,9 @@
#include <string> #include <string>
#include <vector> #include <vector>
using namespace std; #include "City10000.h"
using namespace gtsam; using namespace gtsam;
using namespace boost::algorithm;
using symbol_shorthand::X; using symbol_shorthand::X;
@ -144,15 +145,15 @@ class Experiment {
} }
if (timeList.size() % 100 == 0 && (keyS == keyT - 1)) { if (timeList.size() % 100 == 0 && (keyS == keyT - 1)) {
string stepFileIdx = std::to_string(100000 + timeList.size()); std::string stepFileIdx = std::to_string(100000 + timeList.size());
ofstream stepOutfile; std::ofstream stepOutfile;
string stepFileName = "step_files/ISAM2_City10000_S" + stepFileIdx; std::string stepFileName = "step_files/ISAM2_City10000_S" + stepFileIdx;
stepOutfile.open(stepFileName + ".txt"); stepOutfile.open(stepFileName + ".txt");
for (size_t i = 0; i < (keyT + 1); ++i) { for (size_t i = 0; i < (keyT + 1); ++i) {
Pose2 outPose = results.at<Pose2>(X(i)); Pose2 outPose = results.at<Pose2>(X(i));
stepOutfile << outPose.x() << " " << outPose.y() << " " stepOutfile << outPose.x() << " " << outPose.y() << " "
<< outPose.theta() << endl; << outPose.theta() << std::endl;
} }
stepOutfile.close(); stepOutfile.close();
} }
@ -160,20 +161,20 @@ class Experiment {
clock_t endTime = clock(); clock_t endTime = clock();
clock_t totalTime = endTime - startTime; clock_t totalTime = endTime - startTime;
cout << "totalTime: " << totalTime / CLOCKS_PER_SEC << endl; std::cout << "totalTime: " << totalTime / CLOCKS_PER_SEC << std::endl;
/// Write results to file /// Write results to file
writeResult(results, (keyT + 1), "ISAM2_City10000.txt"); writeResult(results, (keyT + 1), "ISAM2_City10000.txt");
ofstream outfileTime; std::ofstream outfileTime;
std::string timeFileName = "ISAM2_City10000_time.txt"; std::string timeFileName = "ISAM2_City10000_time.txt";
outfileTime.open(timeFileName); outfileTime.open(timeFileName);
for (auto accTime : timeList) { for (auto accTime : timeList) {
outfileTime << accTime << std::endl; outfileTime << accTime << std::endl;
} }
outfileTime.close(); outfileTime.close();
cout << "Written cumulative time to: " << timeFileName << " file." std::cout << "Written cumulative time to: " << timeFileName << " file."
<< endl; << std::endl;
} }
}; };