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getOrdering is const !!!! It matters !

release/4.3a0
Frank Dellaert 2009-08-23 06:56:54 +00:00
parent fd11a1e2c7
commit 6dd31fd8c3
3 changed files with 6 additions and 2 deletions
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3
cpp/LinearFactorGraph.cpp
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@ -230,6 +230,9 @@ pair<Matrix,Vector> LinearFactorGraph::matrix(const Ordering& ordering) const {
/* ************************************************************************* */ /* ************************************************************************* */
Ordering LinearFactorGraph::getOrdering() const { Ordering LinearFactorGraph::getOrdering() const {
// FD: no comments whatsoever, must be totally obvious !
int * _symbolicMatrix; int * _symbolicMatrix;
int * _symbolicColumns; int * _symbolicColumns;
int _symbolicLength; int _symbolicLength;

3
cpp/NonlinearFactorGraph.cpp
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@ -88,8 +88,9 @@ double NonlinearFactorGraph::iterate
} }
/* ************************************************************************* */ /* ************************************************************************* */
Ordering NonlinearFactorGraph::getOrdering(FGConfig& config) Ordering NonlinearFactorGraph::getOrdering(FGConfig& config) const
{ {
// TODO: FD: Whoa! This is crazy !!!!! re-linearizing just to get ordering ?
LinearFactorGraph lfg = linearize(config); LinearFactorGraph lfg = linearize(config);
return lfg.getOrdering(); return lfg.getOrdering();
} }

2
cpp/NonlinearFactorGraph.h
View File

@ -35,7 +35,7 @@ public: // internal, exposed for testing only, doc in .cpp file
double& lambda, double lambdaFactor, double& lambda, double lambdaFactor,
const Ordering& ordering, int verbosity) const; const Ordering& ordering, int verbosity) const;
Ordering getOrdering(FGConfig& config); Ordering getOrdering(FGConfig& config) const;
public: // these you will probably want to use public: // these you will probably want to use
/** /**