From 4bc27952997bbc7ea1f50b8f2d48ce5aa43e7ae0 Mon Sep 17 00:00:00 2001 From: kartik arcot Date: Thu, 12 Jan 2023 13:48:16 -0800 Subject: [PATCH] gtsam_unstable/nonlinear --- gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp | 4 ++-- gtsam_unstable/nonlinear/ConcurrentBatchFilter.h | 4 ++-- gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp | 2 +- gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h | 2 +- gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp | 2 +- gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h | 2 +- 6 files changed, 8 insertions(+), 8 deletions(-) diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp index 83d0ab719..d6456cd51 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp @@ -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 >& keysToMove, const boost::optional< std::vector >& removeFactorIndices) { + const std::optional >& keysToMove, const std::optional< std::vector >& removeFactorIndices) { gttic(update); @@ -358,7 +358,7 @@ void ConcurrentBatchFilter::removeFactors(const std::vector& slots) { } /* ************************************************************************* */ -void ConcurrentBatchFilter::reorder(const boost::optional >& keysToMove) { +void ConcurrentBatchFilter::reorder(const std::optional >& keysToMove) { // COLAMD groups will be used to place marginalize keys in Group 0, and everything else in Group 1 if(keysToMove && keysToMove->size() > 0) { diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h index 7e35476b9..b88d5c739 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h +++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.h @@ -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 >& keysToMove = boost::none, const boost::optional< std::vector >& removeFactorIndices = boost::none); + const std::optional >& keysToMove = {}, const std::optional< std::vector >& removeFactorIndices = {}); /** * Perform any required operations before the synchronization process starts. @@ -200,7 +200,7 @@ private: void removeFactors(const std::vector& slots); /** Use colamd to update into an efficient ordering */ - void reorder(const boost::optional >& keysToMove = boost::none); + void reorder(const std::optional >& keysToMove = {}); /** Marginalize out the set of requested variables from the filter, caching them for the smoother * This effectively moves the separator. diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp index 75d491bde..816917eb5 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp @@ -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 >& removeFactorIndices) { + const std::optional< std::vector >& removeFactorIndices) { gttic(update); diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h index 51d3284a4..38b39594b 100644 --- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h +++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.h @@ -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 >& removeFactorIndices = boost::none); + const std::optional< std::vector >& removeFactorIndices = {}); /** * Perform any required operations before the synchronization process starts. diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp index 3886d0e42..5c08eced5 100644 --- a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp +++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.cpp @@ -45,7 +45,7 @@ bool ConcurrentIncrementalSmoother::equals(const ConcurrentSmoother& rhs, double /* ************************************************************************* */ ConcurrentIncrementalSmoother::Result ConcurrentIncrementalSmoother::update(const NonlinearFactorGraph& newFactors, const Values& newTheta, - const boost::optional& removeFactorIndices) { + const std::optional& removeFactorIndices) { gttic(update); diff --git a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h index a27751561..92d8c462a 100644 --- a/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h +++ b/gtsam_unstable/nonlinear/ConcurrentIncrementalSmoother.h @@ -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& removeFactorIndices = boost::none); + const std::optional& removeFactorIndices = {}); /** * Perform any required operations before the synchronization process starts.