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Rename factorToRemove to factorsToRemove

release/4.3a0
Toni 2019-01-21 18:03:38 -05:00
parent 8e7e5aaf5c
commit 4cfe84e523
5 changed files with 15 additions and 11 deletions
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4
gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
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@ -52,7 +52,7 @@ Matrix BatchFixedLagSmoother::marginalCovariance(Key key) const {
/* ************************************************************************* */ /* ************************************************************************* */
FixedLagSmoother::Result BatchFixedLagSmoother::update( FixedLagSmoother::Result BatchFixedLagSmoother::update(
const NonlinearFactorGraph& newFactors, const Values& newTheta, const NonlinearFactorGraph& newFactors, const Values& newTheta,
const KeyTimestampMap& timestamps, const FastVector<size_t>& factorToRemove) { const KeyTimestampMap& timestamps, const FastVector<size_t>& factorsToRemove) {
// Update all of the internal variables with the new information // Update all of the internal variables with the new information
gttic(augment_system); gttic(augment_system);
@ -70,7 +70,7 @@ FixedLagSmoother::Result BatchFixedLagSmoother::update(
gttoc(augment_system); gttoc(augment_system);
// remove factors in factorToRemove // remove factors in factorToRemove
for(const size_t i : factorToRemove){ for(const size_t i : factorsToRemove){
if(factors_[i]) if(factors_[i])
factors_[i].reset(); factors_[i].reset();
} }

6
gtsam_unstable/nonlinear/BatchFixedLagSmoother.h
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@ -47,8 +47,10 @@ public:
virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const; virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const;
/** Add new factors, updating the solution and relinearizing as needed. */ /** Add new factors, updating the solution and relinearizing as needed. */
Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(), Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(),
const KeyTimestampMap& timestamps = KeyTimestampMap(), const FastVector<size_t>& factorToRemove = FastVector<size_t>()); const Values& newTheta = Values(),
const KeyTimestampMap& timestamps = KeyTimestampMap(),
const FastVector<size_t>& factorsToRemove = FastVector<size_t>());
/** Compute an estimate from the incomplete linear delta computed during the last update. /** Compute an estimate from the incomplete linear delta computed during the last update.
* This delta is incomplete because it was not updated below wildfire_threshold. If only * This delta is incomplete because it was not updated below wildfire_threshold. If only

6
gtsam_unstable/nonlinear/FixedLagSmoother.h
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@ -90,8 +90,10 @@ public:
} }
/** Add new factors, updating the solution and relinearizing as needed. */ /** Add new factors, updating the solution and relinearizing as needed. */
virtual Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(), virtual Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(),
const KeyTimestampMap& timestamps = KeyTimestampMap(), const FastVector<size_t>& factorToRemove = FastVector<size_t>()) = 0; const Values& newTheta = Values(),
const KeyTimestampMap& timestamps = KeyTimestampMap(),
const FastVector<size_t>& factorsToRemove = FastVector<size_t>()) = 0;
/** Compute an estimate from the incomplete linear delta computed during the last update. /** Compute an estimate from the incomplete linear delta computed during the last update.
* This delta is incomplete because it was not updated below wildfire_threshold. If only * This delta is incomplete because it was not updated below wildfire_threshold. If only

4
gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.cpp
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@ -65,7 +65,7 @@ bool IncrementalFixedLagSmoother::equals(const FixedLagSmoother& rhs,
/* ************************************************************************* */ /* ************************************************************************* */
FixedLagSmoother::Result IncrementalFixedLagSmoother::update( FixedLagSmoother::Result IncrementalFixedLagSmoother::update(
const NonlinearFactorGraph& newFactors, const Values& newTheta, const NonlinearFactorGraph& newFactors, const Values& newTheta,
const KeyTimestampMap& timestamps, const FastVector<size_t>& factorToRemove) { const KeyTimestampMap& timestamps, const FastVector<size_t>& factorsToRemove) {
const bool debug = ISDEBUG("IncrementalFixedLagSmoother update"); const bool debug = ISDEBUG("IncrementalFixedLagSmoother update");
@ -126,7 +126,7 @@ FixedLagSmoother::Result IncrementalFixedLagSmoother::update(
// Update iSAM2 // Update iSAM2
isamResult_ = isam_.update(newFactors, newTheta, isamResult_ = isam_.update(newFactors, newTheta,
factorToRemove, constrainedKeys, boost::none, additionalMarkedKeys); factorsToRemove, constrainedKeys, boost::none, additionalMarkedKeys);
if (debug) { if (debug) {
PrintSymbolicTree(isam_, PrintSymbolicTree(isam_,

6
gtsam_unstable/nonlinear/IncrementalFixedLagSmoother.h
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@ -61,9 +61,9 @@ public:
* @param timestamps an (optional) map from keys to real time stamps * @param timestamps an (optional) map from keys to real time stamps
*/ */
Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(),
const Values& newTheta = Values(), // const Values& newTheta = Values(), //
const KeyTimestampMap& timestamps = KeyTimestampMap(), const KeyTimestampMap& timestamps = KeyTimestampMap(),
const FastVector<size_t>& factorToRemove = FactorIndices()); const FastVector<size_t>& factorsToRemove = FactorIndices());
/** Compute an estimate from the incomplete linear delta computed during the last update. /** Compute an estimate from the incomplete linear delta computed during the last update.
* This delta is incomplete because it was not updated below wildfire_threshold. If only * This delta is incomplete because it was not updated below wildfire_threshold. If only