From 36d6b706671279263288b978152445ea636fd3ad Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 9 Jan 2023 19:21:54 -0800
Subject: [PATCH] Fix gcc compilation errors by using correct allocator.

---
 gtsam/symbolic/tests/symbolicExampleGraphs.h  | 48 +++++++++++--------
 .../symbolic/tests/testSymbolicBayesTree.cpp  |  2 -
 2 files changed, 28 insertions(+), 22 deletions(-)

diff --git a/gtsam/symbolic/tests/symbolicExampleGraphs.h b/gtsam/symbolic/tests/symbolicExampleGraphs.h
index 4f98188dd..716f502a4 100644
--- a/gtsam/symbolic/tests/symbolicExampleGraphs.h
+++ b/gtsam/symbolic/tests/symbolicExampleGraphs.h
@@ -20,6 +20,7 @@
 
 #pragma once
 
+#include <gtsam/base/FastDefaultAllocator.h>
 #include <gtsam/symbolic/SymbolicFactorGraph.h>
 #include <gtsam/symbolic/SymbolicFactor.h>
 #include <gtsam/symbolic/SymbolicConditional.h>
@@ -32,8 +33,10 @@ namespace gtsam {
 
     // A small helper class to replace Boost's `list_of` function.
     template <typename T>
-    class ChainedVector {
-    public:
+    struct ChainedVector {
+      using Result = std::vector<T, typename internal::FastDefaultAllocator<T>::type>;
+      Result result;
+
       ChainedVector(const T& c) { result.push_back(c); }
 
       ChainedVector& operator()(const T& c) {
@@ -41,10 +44,7 @@ namespace gtsam {
         return *this;
       }
 
-      operator std::vector<T>() { return result; }
-
-    private:
-      std::vector<T> result;
+      operator Result() { return result; }
     };
 
     const SymbolicFactorGraph simpleTestGraph1 {
@@ -76,18 +76,18 @@ namespace gtsam {
       boost::make_shared<SymbolicFactor>(2,3)};
 
     /* ************************************************************************* *
-     * 2 3
-     *   0 1 : 2
-     ****************************************************************************/
+    * 2 3
+    *   0 1 : 2
+    ****************************************************************************/
     SymbolicBayesTree __simpleChainBayesTree() {
       SymbolicBayesTree result;
       result.insertRoot(boost::make_shared<SymbolicBayesTreeClique>(
-        boost::make_shared<SymbolicConditional>(
+          boost::make_shared<SymbolicConditional>(
         SymbolicConditional::FromKeys(KeyVector{2,3}, 2))));
       result.addClique(boost::make_shared<SymbolicBayesTreeClique>(
-        boost::make_shared<SymbolicConditional>(
+              boost::make_shared<SymbolicConditional>(
         SymbolicConditional::FromKeys(KeyVector{0,1,2}, 2))),
-        result.roots().front());
+          result.roots().front());
       return result;
     }
 
@@ -95,9 +95,12 @@ namespace gtsam {
 
     /* ************************************************************************* */
     // Keys for ASIA example from the tutorial with A and D evidence
-    const Key _X_=gtsam::symbol_shorthand::X(0), _T_=gtsam::symbol_shorthand::T(0),
-      _S_=gtsam::symbol_shorthand::S(0), _E_=gtsam::symbol_shorthand::E(0),
-      _L_=gtsam::symbol_shorthand::L(0), _B_=gtsam::symbol_shorthand::B(0);
+    const Key _X_ = symbol_shorthand::X(0),
+              _T_ = symbol_shorthand::T(0),
+              _S_ = symbol_shorthand::S(0),
+              _E_ = symbol_shorthand::E(0),
+              _L_ = symbol_shorthand::L(0),
+              _B_ = symbol_shorthand::B(0);
 
     // Factor graph for Asia example
     const SymbolicFactorGraph asiaGraph = {
@@ -117,25 +120,30 @@ namespace gtsam {
       boost::make_shared<SymbolicConditional>(_L_, _B_),
       boost::make_shared<SymbolicConditional>(_B_)};
 
+    /* ************************************************************************* */
+    // Allow creating Cliques and Keys in `list_of` chaining style:
     using sharedClique = SymbolicBayesTreeClique::shared_ptr;
     using Children = ChainedVector<sharedClique>;
+    using Keys = ChainedVector<Key>;
 
-    inline sharedClique LeafClique(const std::vector<Key>& keys,
+    inline sharedClique LeafClique(const Keys::Result& keys,
                                    DenseIndex nrFrontals) {
       return boost::make_shared<SymbolicBayesTreeClique>(
           boost::make_shared<SymbolicConditional>(
               SymbolicConditional::FromKeys(keys, nrFrontals)));
     }
 
-    inline sharedClique NodeClique(const std::vector<Key>& keys,
+    inline sharedClique NodeClique(const Keys::Result& keys,
                                    DenseIndex nrFrontals,
-                                   const std::vector<sharedClique>& children) {
+                                   const Children::Result& children) {
       sharedClique clique = LeafClique(keys, nrFrontals);
       clique->children.assign(children.begin(), children.end());
       for (auto&& child : children) child->parent_ = clique;
       return clique;
     }
 
+    /* ************************************************************************* */
+    // BayesTree for Asia example
     SymbolicBayesTree __asiaBayesTree() {
       SymbolicBayesTree result;
       result.insertRoot(LeafClique({_E_, _L_, _B_}, 3));
@@ -149,5 +157,5 @@ namespace gtsam {
 
     /* ************************************************************************* */
     const Ordering asiaOrdering{_X_, _T_, _S_, _E_, _L_, _B_};
-  }
-}
+  }  // namespace
+}  // namespace gtsam
diff --git a/gtsam/symbolic/tests/testSymbolicBayesTree.cpp b/gtsam/symbolic/tests/testSymbolicBayesTree.cpp
index 458579c60..0095c9293 100644
--- a/gtsam/symbolic/tests/testSymbolicBayesTree.cpp
+++ b/gtsam/symbolic/tests/testSymbolicBayesTree.cpp
@@ -34,8 +34,6 @@ using namespace gtsam::symbol_shorthand;
 
 static bool debug = false;
 
-using Keys = ChainedVector<Key>;  // Create Keys a la list_of
-
 /* ************************************************************************* */
 TEST(SymbolicBayesTree, clear) {
   SymbolicBayesTree bayesTree = asiaBayesTree;