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removes unused argument 'ordering' from 'kruskal'

release/4.3a0
Ankur Roy Chowdhury 2023-02-04 19:58:58 -08:00
parent e29a0d35ed
commit 3f65cfb218
5 changed files with 4 additions and 10 deletions
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3
gtsam/base/kruskal-inl.h
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@ -52,7 +52,6 @@ inline std::vector<size_t> sortedIndices(const std::vector<double> &src) {
/****************************************************************/ /****************************************************************/
template <class Graph> template <class Graph>
std::vector<size_t> kruskal(const Graph &fg, std::vector<size_t> kruskal(const Graph &fg,
const FastMap<Key, size_t> &ordering,
const std::vector<double> &weights) { const std::vector<double> &weights) {
// Create an index from variables to factor indices. // Create an index from variables to factor indices.
const VariableIndex variableIndex(fg); const VariableIndex variableIndex(fg);
@ -66,7 +65,7 @@ std::vector<size_t> kruskal(const Graph &fg,
std::vector<size_t> treeIndices; std::vector<size_t> treeIndices;
treeIndices.reserve(n - 1); treeIndices.reserve(n - 1);
// Initialize disjoint-set forest to keep track of merged 'blah'. // Initialize disjoint-set forest to keep track of merged Keys.
DSFMap<Key> dsf; DSFMap<Key> dsf;
// Loop over all edges in order of increasing weight. // Loop over all edges in order of increasing weight.

1
gtsam/base/kruskal.h
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@ -24,7 +24,6 @@
namespace gtsam::utils { namespace gtsam::utils {
template <class FactorGraph> template <class FactorGraph>
std::vector<size_t> kruskal(const FactorGraph &fg, std::vector<size_t> kruskal(const FactorGraph &fg,
const FastMap<Key, size_t> &ordering,
const std::vector<double> &weights); const std::vector<double> &weights);
} }

5
gtsam/linear/SubgraphBuilder.cpp
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@ -230,7 +230,7 @@ vector<size_t> SubgraphBuilder::buildTree(const GaussianFactorGraph &gfg,
return bfs(gfg); return bfs(gfg);
break; break;
case SubgraphBuilderParameters::KRUSKAL: case SubgraphBuilderParameters::KRUSKAL:
return kruskal(gfg, ordering, weights); return kruskal(gfg, weights);
break; break;
default: default:
std::cerr << "SubgraphBuilder::buildTree undefined skeleton type" << endl; std::cerr << "SubgraphBuilder::buildTree undefined skeleton type" << endl;
@ -306,9 +306,8 @@ vector<size_t> SubgraphBuilder::bfs(const GaussianFactorGraph &gfg) const {
/****************************************************************/ /****************************************************************/
vector<size_t> SubgraphBuilder::kruskal(const GaussianFactorGraph &gfg, vector<size_t> SubgraphBuilder::kruskal(const GaussianFactorGraph &gfg,
const FastMap<Key, size_t> &ordering,
const vector<double> &weights) const { const vector<double> &weights) const {
return utils::kruskal(gfg, ordering, weights); return utils::kruskal(gfg, weights);
} }
/****************************************************************/ /****************************************************************/

1
gtsam/linear/SubgraphBuilder.h
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@ -171,7 +171,6 @@ class GTSAM_EXPORT SubgraphBuilder {
std::vector<size_t> sample(const std::vector<double> &weights, std::vector<size_t> sample(const std::vector<double> &weights,
const size_t t) const; const size_t t) const;
std::vector<size_t> kruskal(const GaussianFactorGraph &gfg, std::vector<size_t> kruskal(const GaussianFactorGraph &gfg,
const FastMap<Key, size_t> &ordering,
const std::vector<double> &weights) const; const std::vector<double> &weights) const;
Weights weights(const GaussianFactorGraph &gfg) const ; Weights weights(const GaussianFactorGraph &gfg) const ;

4
gtsam/slam/lago.cpp
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@ -230,11 +230,9 @@ static PredecessorMap findOdometricPath(
PredecessorMap findMinimumSpanningTree( PredecessorMap findMinimumSpanningTree(
const NonlinearFactorGraph& pose2Graph) { const NonlinearFactorGraph& pose2Graph) {
// Compute the minimum spanning tree // Compute the minimum spanning tree
const FastMap<Key, size_t> forwardOrdering =
Ordering::Natural(pose2Graph).invert();
const auto edgeWeights = std::vector<double>(pose2Graph.size(), 1.0); const auto edgeWeights = std::vector<double>(pose2Graph.size(), 1.0);
const auto mstEdgeIndices = const auto mstEdgeIndices =
utils::kruskal(pose2Graph, forwardOrdering, edgeWeights); utils::kruskal(pose2Graph, edgeWeights);
// Create a PredecessorMap 'predecessorMap' such that: // Create a PredecessorMap 'predecessorMap' such that:
// predecessorMap[key2] = key1, where key1 is the 'parent' node for key2 in // predecessorMap[key2] = key1, where key1 is the 'parent' node for key2 in