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Fix compilation error

release/4.3a0
Fan Jiang 2022-03-12 10:49:11 -05:00
parent efa37ff315
commit 3aac52c3d3
2 changed files with 27 additions and 25 deletions
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49
gtsam/hybrid/HybridFactor.h
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@ -27,47 +27,45 @@ namespace gtsam {
/**
* Base class for hybrid probabilistic factors
*/
class GTSAM_EXPORT HybridFactor: public Factor {
class GTSAM_EXPORT HybridFactor : public Factor {
public:
// typedefs needed to play nice with gtsam
typedef HybridFactor This; ///< This class
typedef boost::shared_ptr<HybridFactor> shared_ptr; ///< shared_ptr to this class
typedef Factor Base; ///< Our base class
using Values = Values; ///< backwards compatibility
// typedefs needed to play nice with gtsam
typedef HybridFactor This; ///< This class
typedef boost::shared_ptr<HybridFactor> shared_ptr; ///< shared_ptr to this class
typedef Factor Base; ///< Our base class
public:
/// @name Standard Constructors
/// @{
/** Default constructor creates empty factor */
HybridFactor() {}
/** Default constructor creates empty factor */
HybridFactor() {}
/** Construct from container of keys. This constructor is used internally from derived factor
* constructors, either from a container of keys or from a boost::assign::list_of. */
template<typename CONTAINER>
HybridFactor(const CONTAINER& keys) : Base(keys) {}
/** Construct from container of keys. This constructor is used internally from derived factor
* constructors, either from a container of keys or from a boost::assign::list_of. */
template<typename CONTAINER>
HybridFactor(const CONTAINER &keys) : Base(keys) {}
/// Virtual destructor
virtual ~HybridFactor() {
}
/// Virtual destructor
virtual ~HybridFactor() {
}
/// @}
/// @name Testable
/// @{
/// equals
virtual bool equals(const HybridFactor& lf, double tol = 1e-9) const = 0;
/// equals
virtual bool equals(const HybridFactor &lf, double tol = 1e-9) const = 0;
/// print
void print(
const std::string& s = "HybridFactor\n",
const KeyFormatter& formatter = DefaultKeyFormatter) const override {
Base::print(s, formatter);
}
/// print
void print(
const std::string &s = "HybridFactor\n",
const KeyFormatter &formatter = DefaultKeyFormatter) const override {
Base::print(s, formatter);
}
/// @}
/// @name Standard Interface
@ -78,6 +76,7 @@ Base::print(s, formatter);
// HybridFactor
// traits
template<> struct traits<HybridFactor> : public Testable<HybridFactor> {};
template<>
struct traits<HybridFactor> : public Testable<HybridFactor> {};
}// namespace gtsam

3
gtsam/hybrid/HybridFactorGraph.cpp
View File

@ -29,6 +29,9 @@ EliminateHybrid(const HybridFactorGraph &factors,
// The issue here is that, how can we know which variable is discrete if we
// unify Values? Obviously we can tell using the factors, but is that fast?
// In the case of multifrontal, we will need to use a constrained ordering
// so that the discrete parts will be guaranteed to be eliminated last!
// PRODUCT: multiply all factors
gttic(product);
KeySet allKeys;