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fix a crash due to problems with boost adaptors on rvalue (https://svn.boost.org/trac/boost/ticket/9578)

release/4.3a0
Duy-Nguyen Ta 2016-06-15 09:35:43 -04:00
parent c90304398e
commit 3b897950a6
1 changed files with 5 additions and 5 deletions
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10
gtsam_unstable/linear/QPSolver.cpp
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@ -183,11 +183,11 @@ pair<VectorValues, VectorValues> QPSolver::optimize(
pair<VectorValues, VectorValues> QPSolver::optimize() const { pair<VectorValues, VectorValues> QPSolver::optimize() const {
//Make an LP with any linear cost function. It doesn't matter for initialization. //Make an LP with any linear cost function. It doesn't matter for initialization.
LP initProblem; LP initProblem;
Key newKey = 0; // make an unrelated key for a random variable cost // make an unrelated key for a random variable cost: max key + 1
for (Key key : qp_.cost.getKeyDimMap() | boost::adaptors::map_keys) std::array<Key, 3> maxKeys = {*qp_.cost.keys().rbegin(),
if (newKey < key) *qp_.equalities.keys().rbegin(),
newKey = key; *qp_.inequalities.keys().rbegin()};
newKey++; Key newKey = *std::max_element(maxKeys.begin(), maxKeys.end()) + 1;
initProblem.cost = LinearCost(newKey, Vector::Ones(1)); initProblem.cost = LinearCost(newKey, Vector::Ones(1));
initProblem.equalities = qp_.equalities; initProblem.equalities = qp_.equalities;
initProblem.inequalities = qp_.inequalities; initProblem.inequalities = qp_.inequalities;