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replace emplace_back with emplace_shared and make shared_ptr const&

release/4.3a0
Varun Agrawal 2024-09-06 10:46:50 -04:00
parent 0823fdc6e8
commit 36c0b931a4
1 changed files with 10 additions and 9 deletions
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19
gtsam/hybrid/HybridBayesNet.h
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@ -98,22 +98,23 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
* @param conditional The conditional as a shared pointer. * @param conditional The conditional as a shared pointer.
*/ */
template <class CONDITIONAL> template <class CONDITIONAL>
void push_back(std::shared_ptr<CONDITIONAL> conditional) { void push_back(const std::shared_ptr<CONDITIONAL> &conditional) {
factors_.push_back(std::make_shared<HybridConditional>(conditional)); factors_.push_back(std::make_shared<HybridConditional>(conditional));
} }
/** /**
* Preferred: add a conditional directly using a pointer. * Preferred: Emplace a conditional directly using arguments.
* *
* Examples: * Examples:
* hbn.emplace_back(new GaussianMixture(...))); * hbn.emplace_shared<GaussianMixture>(...)));
* hbn.emplace_back(new GaussianConditional(...))); * hbn.emplace_shared<GaussianConditional>(...)));
* hbn.emplace_back(new DiscreteConditional(...))); * hbn.emplace_shared<DiscreteConditional>(...)));
*/ */
template <class Conditional> template <class CONDITIONAL, class... Args>
void emplace_back(Conditional *conditional) { void emplace_shared(Args &&...args) {
factors_.push_back(std::make_shared<HybridConditional>( auto cond = std::allocate_shared<CONDITIONAL>(
std::shared_ptr<Conditional>(conditional))); Eigen::aligned_allocator<CONDITIONAL>(), std::forward<Args>(args)...);
factors_.push_back(std::make_shared<HybridConditional>(std::move(cond)));
} }
/** /**