Change FastVector<size_t> to FactorIndices to make clang happy
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2d15b9aed6
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5fe891a1c3
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@ -52,7 +52,7 @@ Matrix BatchFixedLagSmoother::marginalCovariance(Key key) const {
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/* ************************************************************************* */
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FixedLagSmoother::Result BatchFixedLagSmoother::update(
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const NonlinearFactorGraph& newFactors, const Values& newTheta,
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const KeyTimestampMap& timestamps, const FastVector<size_t>& factorsToRemove) {
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const KeyTimestampMap& timestamps, const FactorIndices& factorsToRemove) {
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// Update all of the internal variables with the new information
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gttic(augment_system);
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@ -41,22 +41,22 @@ public:
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virtual ~BatchFixedLagSmoother() { };
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/** Print the factor for debugging and testing (implementing Testable) */
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virtual void print(const std::string& s = "BatchFixedLagSmoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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virtual void print(const std::string& s = "BatchFixedLagSmoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
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/** Check if two IncrementalFixedLagSmoother Objects are equal */
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virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const;
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virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const override;
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/** Add new factors, updating the solution and relinearizing as needed. */
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Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(),
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const Values& newTheta = Values(),
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const KeyTimestampMap& timestamps = KeyTimestampMap(),
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const FastVector<size_t>& factorsToRemove = FastVector<size_t>());
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const FactorIndices& factorsToRemove = FactorIndices()) override;
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/** Compute an estimate from the incomplete linear delta computed during the last update.
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* This delta is incomplete because it was not updated below wildfire_threshold. If only
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* a single variable is needed, it is faster to call calculateEstimate(const KEY&).
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*/
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Values calculateEstimate() const {
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Values calculateEstimate() const override {
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return theta_.retract(delta_);
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}
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@ -93,7 +93,7 @@ public:
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virtual Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(),
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const Values& newTheta = Values(),
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const KeyTimestampMap& timestamps = KeyTimestampMap(),
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const FastVector<size_t>& factorsToRemove = FastVector<size_t>()) = 0;
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const FactorIndices& factorsToRemove = FactorIndices()) = 0;
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/** Compute an estimate from the incomplete linear delta computed during the last update.
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* This delta is incomplete because it was not updated below wildfire_threshold. If only
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@ -65,7 +65,7 @@ bool IncrementalFixedLagSmoother::equals(const FixedLagSmoother& rhs,
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/* ************************************************************************* */
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FixedLagSmoother::Result IncrementalFixedLagSmoother::update(
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const NonlinearFactorGraph& newFactors, const Values& newTheta,
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const KeyTimestampMap& timestamps, const FastVector<size_t>& factorsToRemove) {
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const KeyTimestampMap& timestamps, const FactorIndices& factorsToRemove) {
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const bool debug = ISDEBUG("IncrementalFixedLagSmoother update");
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@ -49,10 +49,10 @@ public:
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/** Print the factor for debugging and testing (implementing Testable) */
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virtual void print(const std::string& s = "IncrementalFixedLagSmoother:\n",
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const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override;
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/** Check if two IncrementalFixedLagSmoother Objects are equal */
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virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const;
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virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const override;
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/**
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* Add new factors, updating the solution and re-linearizing as needed.
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@ -64,13 +64,13 @@ public:
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Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(),
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const Values& newTheta = Values(), //
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const KeyTimestampMap& timestamps = KeyTimestampMap(),
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const FastVector<size_t>& factorsToRemove = FactorIndices());
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const FactorIndices& factorsToRemove = FactorIndices()) override;
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/** Compute an estimate from the incomplete linear delta computed during the last update.
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* This delta is incomplete because it was not updated below wildfire_threshold. If only
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* a single variable is needed, it is faster to call calculateEstimate(const KEY&).
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*/
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Values calculateEstimate() const {
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Values calculateEstimate() const override {
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return isam_.calculateEstimate();
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}
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