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gtsam_unstable/nonlinear

release/4.3a0
kartik arcot 2023-01-12 13:48:16 -08:00
parent 0ae90f6262
commit 4bc2795299
6 changed files with 8 additions and 8 deletions
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4
gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
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@ -119,7 +119,7 @@ bool ConcurrentBatchFilter::equals(const ConcurrentFilter& rhs, double tol) cons
/* ************************************************************************* */
ConcurrentBatchFilter::Result ConcurrentBatchFilter::update(const NonlinearFactorGraph& newFactors, const Values& newTheta,
const boost::optional<FastList<Key> >& keysToMove, const boost::optional< std::vector<size_t> >& removeFactorIndices) {
const std::optional<FastList<Key> >& keysToMove, const std::optional< std::vector<size_t> >& removeFactorIndices) {
gttic(update);
@ -358,7 +358,7 @@ void ConcurrentBatchFilter::removeFactors(const std::vector<size_t>& slots) {
}
/* ************************************************************************* */
void ConcurrentBatchFilter::reorder(const boost::optional<FastList<Key> >& keysToMove) {
void ConcurrentBatchFilter::reorder(const std::optional<FastList<Key> >& keysToMove) {
// COLAMD groups will be used to place marginalize keys in Group 0, and everything else in Group 1
if(keysToMove && keysToMove->size() > 0) {

4
gtsam_unstable/nonlinear/ConcurrentBatchFilter.h
View File

@ -124,7 +124,7 @@ public:
* @param removeFactorIndices An optional set of indices corresponding to the factors you want to remove from the graph
*/
virtual Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(),
const boost::optional<FastList<Key> >& keysToMove = boost::none, const boost::optional< std::vector<size_t> >& removeFactorIndices = boost::none);
const std::optional<FastList<Key> >& keysToMove = {}, const std::optional< std::vector<size_t> >& removeFactorIndices = {});
/**
* Perform any required operations before the synchronization process starts.
@ -200,7 +200,7 @@ private:
void removeFactors(const std::vector<size_t>& slots);
/** Use colamd to update into an efficient ordering */
void reorder(const boost::optional<FastList<Key> >& keysToMove = boost::none);
void reorder(const std::optional<FastList<Key> >& keysToMove = {});
/** Marginalize out the set of requested variables from the filter, caching them for the smoother
* This effectively moves the separator.

2
gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
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@ -47,7 +47,7 @@ bool ConcurrentBatchSmoother::equals(const ConcurrentSmoother& rhs, double tol)
/* ************************************************************************* */
ConcurrentBatchSmoother::Result ConcurrentBatchSmoother::update(const NonlinearFactorGraph& newFactors, const Values& newTheta,
const boost::optional< std::vector<size_t> >& removeFactorIndices) {
const std::optional< std::vector<size_t> >& removeFactorIndices) {
gttic(update);

2
gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h
View File

@ -118,7 +118,7 @@ public:
* and additionally, variables that were already in the system must not be included here.
*/
virtual Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(),
const boost::optional< std::vector<size_t> >& removeFactorIndices = boost::none);
const std::optional< std::vector<size_t> >& removeFactorIndices = {});
/**
* Perform any required operations before the synchronization process starts.

2
gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp
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@ -45,7 +45,7 @@ bool ConcurrentIncrementalSmoother::equals(const ConcurrentSmoother& rhs, double
/* ************************************************************************* */
ConcurrentIncrementalSmoother::Result ConcurrentIncrementalSmoother::update(const NonlinearFactorGraph& newFactors, const Values& newTheta,
const boost::optional<FactorIndices>& removeFactorIndices) {
const std::optional<FactorIndices>& removeFactorIndices) {
gttic(update);

2
gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h
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@ -109,7 +109,7 @@ public:
* and additionally, variables that were already in the system must not be included here.
*/
Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(),
const boost::optional<FactorIndices>& removeFactorIndices = boost::none);
const std::optional<FactorIndices>& removeFactorIndices = {});
/**
* Perform any required operations before the synchronization process starts.